Principles of robot motion

de Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun

This text reflects the great advances in the field that have taken place in the last ten years, including sensor-based planning, probabilistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, relating low-level implementation details to high-level algorithmic concepts.