Motion Planning in Dynamic Environments

This study of robot motion planning in dynamic domains presents algorithms for generating motion in an environment that changes over time. Their computational costs are also analyzed. The ability to plan motion in a dynamic domain is of critical importance to an autonomous robotic system that must operate in the presence of moving obstacles or other robots. The most important feature of the book is the presentation of algorithmic solutions to geometric aspects of dynamic motion planning problems which are of fundamental importance in robotics. Topics discussed include planning in time-dependent environments, generation of time-minimal paths in three dimensions, and the co-ordination of multiple mobile agents. The book can serve as a reference for those working on spatial reasoning and autonomous robotic systems.