Mobile robots did not wait to know that they were nonholonomic to plan and execute their
motions autonomously. It is interesting to notice that the first navigation systems have been …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

This paper presents a novel randomized motion planner for robots that must achieve a
specified goal under kinematic and/or dynamic motion constraints while avoiding collision …

This paper presents Continuous Curvature (CC) Steer, a steering method for car-like
vehicles, ie, an algorithm planning paths in the absence of obstacles. CC Steer is the first to …

This paper presents the first motion planning methodology applicable to articulated,
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …

Presents a steering method for a car-like vehicle providing smooth paths subjected to
curvature constraints. We show how to integrate this steering method in a global motion …

In this paper, we study control systems whose input sets are quantized, ie, finite or regularly
distributed on a mesh. We specifically focus on problems relating to the structure of the …

In the last decades, a large variety of robot motion planners emerged. However,
manoeuvring in very narrow environments, eg, for common parking scenarios, cannot be …

This chapter describes the Motion Planning and Obstacle Avoidance for mobile robots. We
will see how both areas do not share the same modelling background. From the very …

The shortest paths for a mobile robot are a fundamental property of the mechanism, and may
also be used as a family of primitives for motion planning in the presence of obstacles. This …