Research paper: Sampling-based robot motion planning: Towards realistic applications

Authors:
Konstantinos I. Tsianos;Ioan A. Sucan;Lydia E. Kavraki
Affiliations:
Department of Computer Science, Rice University, Houston TX, USA;Department of Computer Science, Rice University, Houston TX, USA;Department of Computer Science, Rice University, Houston TX, USA
Venue:
Computer Science Review
Year:
2007

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Abstract

This paper presents some of the recent improvements in sampling-based robot motion planning. Emphasis is placed on work that brings motion-planning algorithms closer to applicability in real environments. Methods that approach increasingly difficult motion-planning problems including kinodynamic motion planning and dynamic environments are discussed. The ultimate goal for such methods is to generate plans that can be executed with few modifications in a real robotics mobile platform.