Robust motion planning for mobile robots

A notion of robustness for a mobile robot trajectory is introduced. It captures the sense that there are nearby trajectories which are also collision-free and satisfy the kinematic constraints. An algorithm is presented which is guaranteed to plan robust paths with a running time of O(n⁴ log n+n ²/δ²), where n is the number of obstacle vertices and δ is a measure of the robustness of the path. Also discussed are the modifications required for the algorithm to allow for uncertainty in position