00538cam a22001094a 4500020002100000082001700021100004700038245007300085260003500158300003600193650019900229  a8120328841 (pbk)00a629.892bPRI  aHowie ChosetaKevin LynchaSeth Hutchinson00aPrinciples of robot motion btheory, algorithms, and implementation   aNew DelhibPrintice Hallc2005  axix, 603 p. b: ill. c; 24 cm. 0aRobotsaRobot motonvSampling based decompositionvLocal minima problemvConfiguration spacevPotential functionsvCell decompositionvTrajectory planningvKalman filteringvBug AlgorithmsvFEAS