Abstract. Kinodynamic planmng attempts to solve a robot motion problem subject to
simultaneous kinematic and dynamics constraints. In the general problem, ggven a robot
system, we must find a minimal-time trajectory that goes from a start position and veloclty to

Abstract: This article extends the capabilities of the harmonic potential field (HPF) approach
to planning to cover both the kinematic and dynamic aspects of a robot's motion. The
suggested approach converts the gradient guidance field from a harmonic potential to a

This paper presents a novel randomized motion planner for robots that must achieve a
specified goal under kinematic and/or dynamic motion constraints while avoiding collision
with moving obstacles with known trajectories. The planner encodes the motion constraints

The general idea is to explore the space with kinodynamic constraints, guided by an initial
collision-free path in configuration space computed using approximate cell decomposition.
This is to combine the complete motion planning in configuration space with robot's motion

Abstract: This paper addresses the problem of kinodynamic motion planning for a non-
holonomic bicycle system moving on a 2D plane in minimum time. As a solution to this
optimization problem, we propose an algorithm for determining feed-forward control values,

Abstract: This paper presents a randomized motion planner for kinodynamic asteroid
avoidance problems, in which a robot must avoid collision with moving obstacles under
kinematic, dynamic constraints and reach a specified goal state. Inspired by probabilistic-

Abstract: Sampling-based algorithms such as the Rapidly-exploring Random Tree (RRT)
have been recently proposed as an effective approach to computationally hard motion
planning problem. However, while the RRT algorithm is known to be able to find a feasible

Abstract Over the last two decades, motion planning [4, 15, 17] has grown from a field that
considered basic geometric problems to a field that addresses planning for complex robots
with kinematic and dynamic constraints [5]. Applications of motion planning have also

Abstract—This paper presents the Discrete Search Lead-ing continuous eXploration (DSLX)
planner, a multi-resolution approach to motion planning that is suitable for challenging
problems involving robots with kinodynamic constraints. Initially the method decomposes the

Abstract: This paper presents an approach to time-optimal kinodynamic motion planning for
a mobile robot. A global path planner is used to generate collision-free straight-line paths
from the robot's position to a given goal location. With waypoints of this path, an initial