This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Polygonal, polyhedral, and semi-algebraic models. Rigid-body transformations, 3D rotations, kinematic chains, Denavit-Hartenberg parameters, kinematic trees, nonrigid transformations. Vertical cell decomposition, shortest-path roadmaps, maximum-clearance roadmaps, cylindrical algebraic decomposition, Canny's algorithm, complexity bounds, Davenport-Schinzel sequences and more ....
Book Link:
http://planning.cs.uiuc.edu/