Robotics II

Motion Planning

(J. Schwarz, M. Sharir, Canny, Latombe, Laumond, Alami, Risler, Torras, Thomas, R-Gonz‡lez L—pez)

"If the symbolic approach has the drawback that the algorithms produced tend to be far too complicated to implement, the heuristic approach suffers from the problem that there is no guarantee that the methods will work in all cases. However, the hope is that the theoretical results can reveal the fundamental structure ot the problem, thus providing a framework to assist in making decisions as to what compromises should be made when developing a heuristic approach."
I.J. Cox, G.T. Wilfong: Foreword to the chapter "Motion Planning" in Autonomous Robot Vehicles. Cox, Wilfong editors. Springer, 1990.

"Although these results have still made few inroads in industrial applications, this should change soon. Several graphic simulators already include collision checking capabilities and it will not take long before they also offer path planning tools." J. C. Latombe, in Prospects. "Robot Motion Planning", Kluwer, 1991.