Motion Planning

Motion planning is a computational problem in autonomous systems that determines a collision-free sequence of configurations or trajectory enabling a system to navigate from an initial configuration to a goal configuration subject to geometric and kinematic constraints.

12.6K

Publications

714.6K

Citations

23.4K

Authors

3.2K

Institutions

Publications per year

2017–2026

4.4K

Parents

Autonomous Systems

Children

Collision DetectionConfiguration SpaceObstacle AvoidanceProbabilistic RoadmapsRapidly Exploring Random TreesRobot NavigationTrajectory OptimizationVisibility Graphs

Publications

12.6K

Probabilistic robotics

Sebastian Thrun · Communications of the ACM · 2002 · 8K citations

Computing, Autonomous Systems, Computer Science +16

Probabilistic roadmaps for path planning in high-dimensional configuration spaces

Lydia E. Kavraki, P. Švestka, J.-C. Latombe et al. · IEEE Transactions on Robotics and Automation · 1996 · 6.3K citations · Full text

Computing, Computer Science, Robotics Engineering +14

Planning and acting in partially observable stochastic domains

Leslie Pack Kaelbling, Michael L. Littman, Anthony R. Cassandra · Artificial Intelligence · 1998 · 4.1K citations

Computing, Autonomous Systems, Mathematics +12

Rapidly-exploring random trees : a new tool for path planning

Steven M. LaValle · 1998 · 3.6K citations

Computing, Autonomous Systems, Motion Planning +10

Randomized Kinodynamic Planning

Steven M. LaValle, James Kuffner · The International Journal of Robotics Research · 2001 · 3.2K citations

Engineering, Mechanical Engineering, Robotics Engineering +17

1–5 of 12.6K

Authors

23.4K

LE
Lydia E. Kavraki
Rice University, United States
92 publications · 15.3K citations
50
h-index
JK
James Kuffner
Carnegie Mellon University, United States
58 publications · 10.4K citations
43
h-index
DM
Dinesh Manocha
University of North Carolina at Chapel Hill, United States
82 publications · 7.3K citations
39
h-index
SM
Steven M. LaValle
University of Illinois Urbana-Champaign, United States
70 publications · 12.5K citations
38
h-index
VK
Vijay Kumar
University of Pennsylvania, United States
65 publications · 5K citations
37
h-index

1–5 of 23.4K

Institutions

3.2K

1–8 of 3.2K

Venues

The International Journal of Robotics Research
IJRR · 299 publications · 38.8K citations
100
h-index
IEEE Transactions on Robotics
234 publications · 21.2K citations
84
h-index
IEEE Robotics and Automation Letters
330 publications · 18.9K citations
71
h-index
IEEE Transactions on Robotics and Automation
107 publications · 21.1K citations
62
h-index
ACM Transactions on Graphics
TOG · 115 publications · 14K citations
62
h-index

1–5

See also Motion Planning
Core Methods	Sampling-based Motion Planning Optimal Control Probabilistic Roadmaps Optimal Transport Motion Planning With Rapidly Exploring Random Trees Rrt-connect Optimal Rapidly Exploring Random Trees Bezier Curve Interpolation Spline Curves Dijkstra's Algorithm
Constraints	Differential Constraints Geometric Constraints Holonomic Constraints Loop-closure Equations Velocity Checks Bounding Techniques
Evaluation	Trajectory Smoothness Descriptive Statistics Inferential Statistics Navigational Safety Curvature Roughness Robustness Scalability Adaptability Resource Efficiency
Applications	Industrial Robotics Robot Manipulation Multi-robot Systems Mobile Robotics Animation Protein Folding Search And Rescue Autonomous Parking Control Underwater Vehicle Design