When a robot moves to one position to another, it needs to change its configuration by avoiding collision with the given environment. Research on this problem of planning robot motion or path from initial to final positions became active from 1980's when the notion of configuration space was introduced and deterministic methods such as potential methods were proposed. During 1990's, sampling-based motion planning methods, which are still actively studied, exhibited remarkable progress in their theory and applications. In 2000's, along the significant improvement in capacity of computers, the motion planning techniques, mainly sampling-based methods, has been utilized in various applications with many DOFs, such as trajectory planning of robots in production lines and medical and bioinformatic computations.
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