Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

In the Singapore primary school Mathematics curriculum, students are taught the model method that uses bar diagrams to visualize the problem structure in a given word problem. When these students progress to secondary school, they learn the algebraic way of solving word problems. Studies (e.g. Ng et al.) have shown that poor bridging of students…