This paper surveys recent developments in motion planning and related geometric
algorithms, a theoretical research area that has grown rapidly in response to increasing …

This thesis concerns the use of artificial potential functions to solve the robot navigation
problem in the context of perfect information. A class of potential functions--the navigation …

The motion planning problem is of central importance to the fields of robotics, spatial
planning, and automated design. In robotics we are interested in the automatic synthesis of …

Murrieta-Cid R Hayet J (2007) Small-time local controllability of a differential drive robot with
a limited sensor for landmark-based navigation Proceedings of the artificial intelligence 6th …

The subject of this paper is the analysis of a randomizedpreprocessing scheme that has
been usedfor query processing in robot path planning. The attractiveness of the scheme …

The current algorithmic interest in motion planning is usually traced to the previously noted
work of T. Lozano-Perez and M. Wesley. Motion planning, ie, the problem of computing a …

Robots must successfully plan and execute tasks in the presence of uncertainty. Uncertainty
arises from errors in modeling, sensing, and control. Planning in the presence of uncertainty …

Planning in contact state space is very important for many robotics tasks. This paper
introduces a general and novel approach for automatic creation of high-level, discrete …

Most of the research in robot motion planning has focused on finding a collision-free path
connecting two configurations of the robot among obstacles, under the assumptions that …

In the main part of this dissertation we present a new path planning method which computes
collision-free paths for robots of virtually any type moving among stationary obstacles. This …