Generalized best-first search strategies and the optimality of A*
Journal of the ACM (JACM)
The complexity of robot motion planning
The complexity of robot motion planning
An exact algorithm for kinodynamic planning in the plane
SCG '90 Proceedings of the sixth annual symposium on Computational geometry
The weighted region problem: finding shortest paths through a weighted planar subdivision
Journal of the ACM (JACM)
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Journal of the ACM (JACM)
Motion planning with uncertainty: a landmark approach
Artificial Intelligence - Special volume on planning and scheduling
Shape Representation Using a Generalized Potential Field Model
IEEE Transactions on Pattern Analysis and Machine Intelligence
Harmonic functions and collision probabilities
International Journal of Robotics Research
Languages, behaviors, hybrid architectures, and motion control
Mathematical control theory
Robot Motion Planning
Motion Planning in Dynamic Environments
Motion Planning in Dynamic Environments
Advances in Robotics: Algorithmic and Geometric Aspects of Robotics
Advances in Robotics: Algorithmic and Geometric Aspects of Robotics
Approximation Algorithms for Curvature-Constrained Shortest Paths
SIAM Journal on Computing
Nonuniform Discretization for Kinodynamic Motion Planning and its Applications
SIAM Journal on Computing
Exploring artificial intelligence in the new millennium
The jogger's problem: accounting for body dynamics in real-time motion planning
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
Planning Algorithms
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Dynamic Programming and Optimal Control, Vol. II
Dynamic Programming and Optimal Control, Vol. II
Journal of Artificial Intelligence Research
Learning to act using real-time dynamic programming
Artificial Intelligence
Shortest routes on varying height surfaces using gray-level distance transforms
Image and Vision Computing
Pixel queue algorithm for geodesic distance transforms
DGCI'05 Proceedings of the 12th international conference on Discrete Geometry for Computer Imagery
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Journal of Intelligent and Robotic Systems
A Dijkstra algorithm for fixed-wing UAV motion planning based on terrain elevation
SBIA'10 Proceedings of the 20th Brazilian conference on Advances in artificial intelligence
Survey of Motion Planning Literature in the Presence of Uncertainty: Considerations for UAV Guidance
Journal of Intelligent and Robotic Systems
A Harmonic Potential Approach for Simultaneous Planning and Control of a Generic UAV Platform
Journal of Intelligent and Robotic Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Terrain Avoidance Nonlinear Model Predictive Control for Autonomous Rotorcraft
Journal of Intelligent and Robotic Systems
Robotics and Autonomous Systems
A method for reactive navigation of nonholonomic under-actuated robots in maze-like environments
Automatica (Journal of IFAC)
Three-dimensional Route Planning for Unmanned Aerial Vehicles in a Risk Environment
Journal of Intelligent and Robotic Systems
An integrated robust probing motion planning and control scheme: A tube-based MPC approach
Robotics and Autonomous Systems
Flight path planning for unmanned aerial vehicles with landmark-based visual navigation
Robotics and Autonomous Systems
A hierarchical approach for primitive-based motion planning and control of autonomous vehicles
Robotics and Autonomous Systems
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A fundamental aspect of autonomous vehicle guidance is planning trajectories. Historically, two fields have contributed to trajectory or motion planning methods: robotics and dynamics and control. The former typically have a stronger focus on computational issues and real-time robot control, while the latter emphasize the dynamic behavior and more specific aspects of trajectory performance. Guidance for Unmanned Aerial Vehicles (UAVs), including fixed- and rotary-wing aircraft, involves significant differences from most traditionally defined mobile and manipulator robots. Qualities characteristic to UAVs include non-trivial dynamics, three-dimensional environments, disturbed operating conditions, and high levels of uncertainty in state knowledge. Otherwise, UAV guidance shares qualities with typical robotic motion planning problems, including partial knowledge of the environment and tasks that can range from basic goal interception, which can be precisely specified, to more general tasks like surveillance and reconnaissance, which are harder to specify. These basic planning problems involve continual interaction with the environment. The purpose of this paper is to provide an overview of existing motion planning algorithms while adding perspectives and practical examples from UAV guidance approaches.