Motion planning is one of the most important areas of robotics research. The complexity of
the motion-planning problem has hindered the development of practical algorithms. This …

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 is the newly revised and expanded edition of the popular introduction to the design and
implementation of geometry algorithms arising in areas such as computer graphics, robotics …

The problem of path planning for an automaton moving in a two-dimensional scene filled
with unknown obstacles is considered. The automaton is presented as a point; obstacles …

The integer programming problem is: Given m× n and m× l matrices A and b respectively of
integers, find whether, there exists an all integer n× l vector x satisfying the m inequalities …

The problem of path planning is studied for the case of a mobile robot moving in an
environment filled with obstacles whose shape and positions are not known. Under the …

A new approach to certain motion-planning problems in robotics is introduced. This
approach is based on the use of a generalized Voronoi diagram, and reduces the search for …

This paper investigates the computational complexity of planning the motion of a body B in 2-
D or 3-D space, so as to avoid collision with moving obstacles of known, easily computed …

We present an algorithm that solves the following motion-planning problem that arises in
robotics: Given several two-dimensional circular bodies B 1, B2,..., and a region bounded by …

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 …