Gross motion planning---a survey

Yong K. Hwang, Narendra Ahuja
1992 ACM Computing Surveys  
Motlonplanning lsoneofthe mostimportant areasofrobotics research The complexity of the motion-planning problem has hindered the developmentof practical algorithms. This paper surveys the work on gross-motionplanning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.The generalissuesin motion planning are explained Recentapproachesandtheir performancesare briefly described,and possiblefuture researchdirections are discussed.
doi:10.1145/136035.136037 fatcat:ylshsgnr5jhkje2uruafaf7bpa