Session Summary

Motion planning even when restricted to the collision-free path finding is a central part of any autonomous robot system, especially in automatic task level programming or semi-autonomous teleoperation. Although numerous theoretical solutions to the problem have been presented over several decades now, only a few practical path planning algorithms have emerged. Still many approaches to path planning are based on the concept of configuration space (C-space) introduced by Lozano-Pérez and Wesley in 1979.