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Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. The boustrophedon cell decomposition (BCD) is a method used in artificial intelligence and robotics for configuration space solutions. Like other cellular decomposition methods, this method transforms the configuration space into cell regions that can be used for path planning. A strength of the boustrophedon cell decomposition is that it allows for more diverse, non-polygonal obstacles within a configuration space. The representation still depicts polygonal obstacles, but the representations are complex enough that they are very effective when describing things like rounded surfaces, jagged edges, etc.