Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Planning, geometry, and complexity of robot motion
Planning, geometry, and complexity of robot motion
The complexity of robot motion planning
The complexity of robot motion planning
Some algebraic and geometric computations in PSPACE
STOC '88 Proceedings of the twentieth annual ACM symposium on Theory of computing
Algorithmic motion planning in robotics
Handbook of theoretical computer science (vol. A)
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Journal of the ACM (JACM)
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
A probabilistic learning approach to motion planning
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A random sampling scheme for path planning
International Journal of Robotics Research
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Handbook of discrete and computational geometry
Randomized query processing in robot path planning
Journal of Computer and System Sciences
On finding narrow passages with probabilistic roadmap planners
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Motion planning for a rigid body using random networks on the medial axis of the free space
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Using motion planning to study protein folding pathways
RECOMB '01 Proceedings of the fifth annual international conference on Computational biology
Robot Motion Planning
Proceedings of the sixth annual international conference on Computational biology
A Motion Planning Approach to Flexible Ligand Binding
Proceedings of the Seventh International Conference on Intelligent Systems for Molecular Biology
Path Planning Using a Single-Query Bi-directional Lazy Collision Checking Planner
MICAI '02 Proceedings of the Second Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Randomized single-query motion planning in expansive spaces
Randomized single-query motion planning in expansive spaces
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
Journal of Artificial Intelligence Research
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Algorithms based on randomized sampling proved to be the only viable algorithmic tool for quickly solving motion planning problems involving many degrees of freedom. Information on the configuration space is acquired by generating samples and finding simple paths among them. Paths and samples are stored in a suitable data structure. According to this paradigm, in the recent years a wide number of algorithmic techniques have been proposed and some approaches are now widely used. This survey reviews the main algorithms, outlining their advantages and drawbacks, as well as the knowledge recently acquired in the field.