Moving Pathway Control Points: Given two doors, multiple path- ways are possible. By moving the control points of the pathway, which is represented as a cubic Bezier curve, the pathway can change its course to avoid colliding with furniture objects. As shown in Figure 7, the free space of a pathway is represented by a series of rectangles along the curve. Thus, pathways can also be regarded as “furniture objects” whose control points may be mod- ified, and a move can be defined as the translation of a pathway control point in a certain direction. With the aforementioned moves, given a floor-plan and a fixed num- ber of furniture objects.
