theory, algorithms, and implementation Howie Choset Kevin Lynch Seth Hutchinson creator text New Delhi Printice Hall 2005 monographic xix, 603 p. : ill. ; 24 cm. Robots Robot moton Sampling based decomposition Local minima problem Configuration space Potential functions Cell decomposition Trajectory planning Kalman filtering Bug Algorithms FEAS 629.892 PRI 8120328841 (pbk)