From Start to Goal: How Mobile Robots Plan Their Paths (Methods and Algorithms)

The ability to move is the key feature of mobile intelligent agents such as mobile robots. No wonder that the problem of autonomous navigation has been extensively studied in robotics and artificial intelligence. One of the prominent approaches is to decompose the navigation task into a series of subtasks such as localization, mapping, path planning, trajectory following, etc. In this talk, we will focus on one of such tasks, namely, on path planning (aka path finding), and will explore modern methods and algorithms tailored to solve it.