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done, load G*accum <= accumsum; begin <= accum; <= State0;

An exact algorithm for kinodynamic planning in the plane In Proceedings of the 6th Annual Symposium on Computational Geometry, Berkeley, CA, June 1990 85 O Khatib Real-time obstacle avoidance for manipulators and mobile robots International Journal of Robotics Research 5(1):90 99, 1986 86 R Volpe and P Khosla Arti cial potential with elliptical isopotential contours for obstacle avoidance In Proceedings of the 26th IEEE International Conference on Decision and Control, Los Angeles, 1987 87 D Koditschek Exact robot navigation by means of potential functions: Some topological considerations In Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, May 1987 88 J Barraquand, B Langlois, and J C Latombe Numerical potential elds techniques for robot path planning IEEE Transactions on Systems, Man, and Cybernetics 22(2):224 241, March 1992 89 C De Medio and G Oriolo Robot Obstacle Avoidance Using Vortex Fields In Advances in Robot Kinematics, S.

Stifter and J Lenarcic, eds, Springer-Verlag, New York, 1991..

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I told him, yes, it was up that far but I really still had a lot to learn I felt badly that I was doing so much better than he was doing Now I felt my leg start to shake a bit I wanted to start trading again as soon as possible I had profits to make, and all this talk was driving me crazy I raced back toward my desk, thinking about how great the day had been A great day in a great week in what was going to be the most Amazing great year of my life so far And now I was going to trade Or at least that is what I thought I was going to do Scott Needleway was standing at my cubicle when I got back from lunch He did not look happy Herbie is pissed and wants to see you now.

90 T Wikman, M Branicky, and W Newman Re exive collision avoidance: A generalized approach In Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, May 1993 91 P Jacobs, J P Laumond, and M Taix Ef cient motion planners for nonholonomic mobile robots IEEE International Conference on Intelligent Robots and Systems (IROS), Osaka, Japan, August 1991 92 J C Latombe A fast path planner for a car-like indoor mobile robot In Proceedings of the 9th National Conference on Arti cial Intelligence, Anaheim, CA, 1991 93 J Barraquand and J C Latombe Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles In Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, May 1991 94 A De Luca and G Oriolo Local incremental planning for nonholonomic mobile robots.

In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994 95 T Fraichard and A Scheuer Car-like robots and moving obstacles In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994 96 A Shkel and V Lumelsky The role of time constraints in the design of control for the Jogger s Problem In 34th IEEE Conference on Decision and Control, New Orleans, 1995 97 G Korn and T Korn Mathematical Handbook, McGraw-Hill, New York, 1968 98 L Hocking Optimal Control, Clarendon Press, Oxford, 1991 99 A Shkel and V Lumelsky The Jogger s Problem: Accounting for body dynamics in real-time motion planning Automatica 33(7):1219 1233, 1997 100 L S Pontryagin The Mathematical Theory of Optimal Processes, Interscience Publishers, New York, 1962 101 Unece: World robotics 2003 Technical report, United Nations Economic Commission for Europe, Geneva, 2003 102 R.

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