Gross Motion Planning - A Survey

  title={Gross Motion Planning - A Survey},
  author={Yong Koo Hwang and Narendra Ahuja},
  journal={ACM Comput. Surv.},
Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and… CONTINUE READING
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