Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Part I. Introductory Material: 1. Introduction; 2. Discrete planning; Part II. Motion Planning: 3. Geometric representations and transformations; 4. The configuration space; 5. Sampling-based motion planning; 6. Combinatorial motion planning; 7. Extensions of basic motion planning; 8. Feedback motion planning; Part III. Decision-Theoretic Planning: 9. Basic decision theory; 10. Sequential decision theory; 11. Information spaces; 12. Planning under sensing uncertainty; Part IV. Planning Under Differential Constraints: 13. Differential models; 14. Sampling-based planning under differential constraints; 15. System theory and analytical techniques.
"Motion planning is an important field of research with applications in such diverse terrains as robotics, molecular modeling, virtual environments, and games. Over the past two decades a huge number of techniques have been developed, all with their merits and shortcomings. The book by Steve LaValle gives an excellent overview of the current state of the art in the field. It should lie on the desk of everybody that is involved in motion planning research or the use of motion planning in applications."
Professor Mark Overmars, Utrecht University
"A great book at the junction where Robotics, Artificial Intelligence, and Control are crossing their paths. For many problems you will find in-depth discussion and algorithms; for virtually all others in the field, an intriguing introduction to make you at ease and entice you to further probing the matter."
Professor Antonio Bicchi, della Università di Pisa
"The book is a successful integration of algorithms developed in various fields into a comprehensive and well-updated reference and educational book."
Valentin A. Nepomnyashchikh