Author(s)

A.P. del Pobil & M.A. Serna

Abstract

Robot motion planning A.P. del Pobil* & M.A. Serna^ ^ Department of Informatics, Jaume I University, Spain & School of Engineering, University of Navarra, Manuel de Lardizabal 13, 20009 San Sebastian, Spain ABSTRACT Manipulation and motion are the most common means that we use to act directly on the world. Vision and language serve us as inputs and we communicate with other human beings using speech, but we act on our surroundings by moving and manipulating. If AI is to deal with real life problems, autonomous intelligent systems will have to interact with the world in the way humans do. This tutorial is intended to present what robot motion planning is, what has been achieved through it so far, and what could be reasonably expected from it in the near future. The attention will be focused more on techniques for real-life applications than on theoretical formulations. Emphasis is on robot manipulators rather than on isolated moving objects, distinguising applications in 2D and 3D

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