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A path planning algorithm based on multiresolution cell decomposition of the environment using wavelets is proposed. The environment is assumed to be given by an occupancy grid at fine resolution. The algorithm constructs a cell decomposition at several levels of resolution (cell sizes) and constructs an optimal path to the destination from the current location of the agent. At each step the algorithm iteratively refines a coarse approximation to the path through local replanning. Thedoi:10.1109/acc.2008.4586659 dblp:conf/amcc/CowlagiT08 fatcat:qr35g2hfrfgs5p3n4cknzw5s4m