[Survey] Survey of Motion Planning strategies

Search and Heuristic

• A Note on Two Problems in Connexion with Graphs by Dijkstra
• A Formal Basis for the Heuristic Determination of Minimum Cost Paths by Hart
• On the complexity of admissible search algorithms by Martelli
• Heuristic Search Viewed as Path Finding in a Graph by Pohl
• R* Search by Likhachev abd Stentz
• Incremental A* by Koenig and Likhachev
• Lifelong planning A* by Koenig, Likhachev and Furcy
• Real-Time Adaptive A* by Koenig and Likhachev
• Multiheuristic A* by Aine, Swaminathan, Narayan, Hwang and Likhachev
• Linear Space Best-First Search

Replanning

• Optimal and efficient path planning for partially-known environments by Stentz
• The Focussed D* Algorithm for Real-Time Replanning by Stentz
• Fast Replanning for Navigation in Unknown Terrain by Koenig and Likhachev
• Using Interpolation to Improve Path Planning: The Field D* Algorithm by Ferguson and Stentz
• Replanning with RRTs by Ferguson, Kalra and Stentz
• RRTX: Real-Time Motion Planning/Replanning for Environments with Unpredictable Obstacles by Otte and Frazzoli

Real-time planning

• ARA*: Anytime A* with Provable Bounds on Sub-Optimality by Likhachev, Gordon and Thrun
• Anytime Dynamic A*: An Anytime, Replanning Algorithm by Likhachev, Ferguson, Gordon, Stentz and Thrun
• Anytime search in dynamic graphs by Likhachev, Ferguson, Gordon, Stentz and Thrun
• Anytime RRTs by Ferguson and Stentz

RRTs

• Rapidly Exploring Random Trees: A new tool for path planning by Lavelle
• RRT-connect: An efficient approach to single-query path planning by Kuffner and Lavalle
• Sampling-based Algorithms for Optimal Motion Planning by Karaman and Frazolli
• Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic by Gammell, Srinivasa and Barfoot
• Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs by Gammell, Srinivasa and Barfoot
• Sampling-Based Path Planning on Configuration-Space Costmaps by Jaillet, Cortes and Simeon
• Addressing Cost-Space Chasms in Manipulation Planning by Berenson, Simeon and Srinivasa
• Optimal Kinodynamic Motion Planning using Incremental Sampling-based Methods by Karaman and Frazzoli
• Sampling-based Optimal Motion Planning for Non-holonomic Dynamical Systems by Karaman and Frazzoli

State lattice-based planners

• Efficient constrained path planning via search in state lattices by Pivtoraiko and Kelly
• Differentially Constrained Mobile Robot Motion Planning in State Lattices by Pivtoraiko, Knepper and Kelly
• Kinodynamic motion planning with state lattice motion primitives by Pivtoraiko and Kelly

Trajectory optimization

• The dynamic window approach to collision avoidance by Fox, Burgard and Thrun
• CHOMP: Covariant Hamiltonian optimization for motion planning by Zucker et al
• Timed elastic bands, Optimizing TEBs using sparse model, TEBs with distinctive topologies, TEBs for car-like robots by Rösmann, Hoffmann and Bertram

Trajectory generation for car-like robots

• On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents by Dubins
• Optimal paths for a car that goes both forwards and backwards by Reeds and Shepp
• Optimal Trajectories for Nonholonomic Mobile Robots by Soueres and Boissonnat
• Shortest paths synthesis for a car-like robot by Soueres and Laumond
• Smooth Local Path Planning for Autonomous Vehicles by Kanayama and Hartman
• Trajectory Generation for Car-like robots using cubic curvature polynomials by Nagy and Kelly
• Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots by Howard and Kelly

Planning for mobile robots

• A Guide to Heuristic-based Path Planning by Ferguson, Likhachev and Stentz
• Planning continuous-curvature paths for car-like robots by Scheuer and Fraichard
• Real Time Continuous Curvature Path Planner for an Autonomous Vehicle in an Urban Environment by Knowles
• Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles by Likhachev and Ferguson
• Autonomous Driving in Structured and Unstructured Environments by Kolski, Ferguson, Bellino and Siegwart
• Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments by Kelly et al.
• Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments by Ferguson, Darms, Urmson and Kolski
• Motion Planning in Urban Environments Part-I and Part II by Ferguson, Howard and Likhachev
• Real-Time Motion Planning With Applications to Autonomous Urban Driving by Kuwata, Teo, Fiore, Karaman, Frazzoli and How
• Search-Based Path Planning with Homotopy Class Constraints by Bhattacharya, Kumar and Likhachev
• Time-bounded Lattice for Efficient Planning in Dynamic Environments by Kushleyev and Likhachev
• Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments by Dolgov, Thrun, Montemerlo and Diebel
• Focused Trajectory Planning for Autonomous On-Road Driving by Gu, Snider, Dolan and Lee
• Spatiotemporal state lattices for fast trajectory planning in dynamic on-road driving scenarios by Ziegler and Stiller
• Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice by McNaughton, Urmson, Dolan and Lee
• A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles by Xu, Wei, Dolan, Zhao and Zha
• Toward Human-like Motion Planning in Urban Environments by Gu and Dolan
• Motion Planning under Uncertainty for On-Road Autonomous Driving by Xu, Pan, Wei and Dolan
• Tunable and Stable Real-Time Trajectory Planning for Urban Autonomous Driving by Gu, Atwood, Dong, Dolan and Lee
• On-Road Trajectory Planning for General Autonomous Driving with Enhanced Tunability by Gu, Dolan and Lee
• Runtime-bounded tunable motion planning for autonomous driving by Gu, Dolan and Lee
• A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles Paden, Cap, Yong, Yershov and Frazolli
• Baidu Apollo EM Motion Planner by Fan et al.