Laumond J.P. (ed.) Robot Motion Planning and Control

Springer, 1998. — 343 pages. (Lecture Notes in Control and Information Sciences, 229).Covers results in motion planning and control, nonholonomic systems, probablistic algorithms, and collision detection which is a critical operation in algorithmic motion planning.The purpose of this book is not to present a current state of the art in motion planning and control. We have chosen to emphasize on recent issues which have been developed within the 90's. In this sense, it completes Latombe's book published in 1991. Moreover an objective of this book is to illustrate the necessary interdisciplinarity of the domain: the authors come from Robotics, Computational Geometry, Control Theory and Mathematics. All of them share a common understanding of the robotic problem.
The chapters cover recent and fruitful results in motion planning and control. Four of them deal with nonholonomic systems; another one is dedicated to probabilistic algorithms; the last one addresses collision detection, a critical operation in algorithmic motion planning.