Principles of Robot Motion: Theory, Algorithms, and Implementations
K. M. Lynch
L. E. Kavraki
MIT Press, Boston, 2005
Details and a sample chapter from the MIT Press site
Buy it from:
Barnes and Noble
Well -- if anyone ever finds a mistake, then we'll create this bit.
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Some courses that use this book
Advanced Robotic Planning at the University of Illinois
Robot Motion Planning at Carnegie Mellon
Algorithmic Robotics at Rice University
Geometry in Robotics at Northwestern University
Robot Motion Planning at RPI
Advanced Robotics: Navigation at Cal Tech
Motion Planning and Applications Robots, Digital Actors, and Molecules at the National University of Singapore
Mobile Robotics at Washington University in St. Louis
Computational Aspects of Robotics at Columbia University
Robot Motion Planning and Dynamics at the University of Colorado at Boulder
Here is an incomplete list of links to papers on motion planning. You are probably better off with Google.
Author web pages
These students at the ITESM in Mexico City are the first students to use the book in a robotics class --- June, 2005.