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RobotMotionPlanning-SpringerUS(1991)
Motionplanningisthecentralthemeofthisbook.Itcanbelooselystatedasfollows:Howcanarobotdecidewhatmotionstoperforminordertoachievegoalarrangementsofphysicalobjects?Thiscapabilityiseminentlynecessarysince,bydefinition,arobotaccomplishestasksbymovingintherealworld.