This article presents a novel and unifying method for routing of flexible one-dimensional
components such as cables, hoses and pipes with geometric design constraints. A
deterministic and resolution complete grid search is used to find a nominal configuration of
the component that is collision-free and satisfies functional and manufacturing constraints.
Local refinement is done in tandem with a computationally efficient and physically accurate
simulation model based on Cosserat rod theory to ensure that the deformed configuration …