Mobile robots are complex systems that combine mechanical elements such as wheels and gears, electromechanical devices such as motors, clutches and brakes, digital circuits such as processors and smart sensors, and software programs such as embedded controllers. They have mechanical constraints (e.g., a carlike robot cannot move sideways), limited energy resources, and computation, sensing, and communication capabilities. They operate in environments cluttered with possibly moving and shape changing obstacles, and their objectives can change over time, such as in the case of appearing and disappearing targets. Robot motion planning and control is the problem of automatic construction of robot control strategies from task specifications given in high-level, human-like language. The challenge in this area is the development of computationally efficient frameworks allowing for systematic, provably correct, control design accommodating both the robot constraints and the complexity of the environment, while at the same time allowing for expressive task specifications. Comments Copyright 2007 IEEE. Reprinted from IEEE Robotics and Automation, Volume 14, Issue 1, March 2007, pages 51-70. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Author(s) Calin Belta, Antonio Bicci, Magnus Egerstedt, Emilio Frazzoli, Eric Klavins, and George J. Pappas This journal article is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/232
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