Motion planning

Lydia E. Kavraki, Steven M Lavalle

Research output: Chapter in Book/Report/Conference proceedingChapter


This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2 and then introduces sampling-based planning in Sect. 7.3. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented in Sect. 7.4. These approaches provide theoretical guarantees and for simple planning instances they outperform sampling-based planners. Section 7.5 considers problems that involve differential constraints, while Sect. 7.6 overviews several other extensions of the basic problem formulation and proposed solutions. Finally, Sect. 7.8 addresses some important and more advanced topics related to motion planning.

Original languageEnglish (US)
Title of host publicationSpringer Handbook of Robotics
Number of pages23
ISBN (Electronic)9783319325521
ISBN (Print)9783319325507
StatePublished - Jan 1 2016


  • Belief space
  • Cell decomposition
  • Differential constraint
  • Motion planning
  • Planning algorithm

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)


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