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This paper addresses a method to optimize the robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. The method maps the dynamic environment into a model in the velocity space, computing the times to potential collision and potential escape and the associated robot velocities. The problem of finding a trajectory to the goal is stated as a constrained nonlinear optimization problem. The initial seed trajectory for thedoi:10.1109/iros.2006.282012 dblp:conf/iros/OwenM06 fatcat:hapuy53j4bdrvdm2lmryqqypxm