C-space (Configuration Space)

Configuration space, or C-space, is a conceptual representation used in robotics and motion planning that maps all possible positions and orientations of a robot into a multi-dimensional space. Each point in this space corresponds to a unique robot configuration. By analyzing the C-space, planners can efficiently determine paths that move the robot from a starting position to a goal while avoiding obstacles. Essentially, it transforms complex physical environments and robot states into a mathematical framework, simplifying the problem of navigating through obstacles and enabling systematic, collision-free path planning.