This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles. The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori. Two structural sets. the C-boundaries and the C-obstacles. https://www.chiggate.com/beef-noodle-soup-goveda-juha-35pcs-x-65g-podravka-online-sale/