What Was/Is/Should be Path Planning

Marc Slack

This paper claims that the problem of local navigation for mobile robots is more than less a solved problem. Furthermore, that the solutions to the problem do not involve planning but rather situated reactivity. This observation leads to two conclusions. That continued research in deliberative planning for local navigation misses the point, leading to systems which are incapable of real-time response. Second, that the real problems in mobile robot navigation are in the orchestration of situated navigation reactions in order to accomplish globally defined tasks.


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