Planning: a sketch of the theory

Concerns motion trajectory planning. Main historical milestones in the development of trajectory planning are given, beginning in 1966. Planning and related concepts are defined. Planning is examined as a stage of control. Behaviour generation is then considered. Problems related to planning are examined. Planning is considered as a reaction to an anticipated future. Representation spaces are considered. The paper then considers geometry, collision-free paths, nonholonomic systems, unknown environments, redundancy, actions and states, visibility, learning, multiresolutional organisation, and intelligence.