Part two discusses Rectangular Symmetry Reduction (RSR) : a simple yet effective preprocessing algorithm that eliminates many path symmetries by decomposing a grid map into a set of empty rectangles.Part one introduces the notion of path symmetry: a property of uniform-cost grid maps which can significantly slow down search.This is the final article in my three-part look at symmetry reduction algorithms for speeding up pathfinding on uniform-cost grid maps.
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