Principles of Robot Motion: Theory, Algorithms, and Implementations

H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun
MIT Press, Boston, 2005

Details and a sample chapter from the MIT Press site

Buy it from:


Well -- if anyone ever finds a mistake, then we'll create this bit.

If you find a mistake let us know

Some courses that use this book


Here is an incomplete list of links to papers on motion planning. You are probably better off with Google.

These students at the ITESM in Mexico City are the first students to use the book in a robotics class --- June, 2005.