Abstract: This paper investigates how graph representation can be created for the mesh which is a discrete approximation of n-dimensional continuous space. The paper discusses the relationship between mesh dimensionality and the type and quantity of edges connecting each vertex with its neighbors. Basing on the analysis, a simple algorithm is also proposed to create such graph representation. The purpose of the graph is to search optimal paths and trajectories in the represented space.

Key words: Trajectory optimization , Path optimization , Graph search algorithms