<s>
The	O
boustrophedon	B-General_Concept
cell	I-General_Concept
decomposition	I-General_Concept
(	O
BCD	O
)	O
is	O
a	O
method	O
used	O
in	O
artificial	B-Application
intelligence	I-Application
and	O
robotics	O
for	O
configuration	O
space	O
solutions	O
.	O
</s>
<s>
A	O
strength	O
of	O
the	O
boustrophedon	B-General_Concept
cell	I-General_Concept
decomposition	I-General_Concept
is	O
that	O
it	O
allows	O
for	O
more	O
diverse	O
,	O
non-polygonal	O
obstacles	O
within	O
a	O
configuration	O
space	O
.	O
</s>
