Motion Planning

We formulate the problem of motion planning and introduce several important definitions and concepts that will be used to analyze solutions to the motion planning problem.

Part 1: Motion Planning as Optimal Control

We formalize the motion planning problem as an optimal control problem.

Part 2: Geometric Primitives

We introduce some needed basic primitives such as paths and trajectories and present some basic classes of strategies commonly used to address the problem of motion planning.

Part 3: The Geometric Perspective

We further introduce the concepts of workspaces and configuration spaces and show how they can be used to find solutions to the motion planning problem.