The three essential requirements of sensor based robotic arm manipulation and mobile robot navigation are localization (position and pose determination), environmental mapping (forming a model of the working environment) and trajectory (for manipulators) or path (for mobile robots) planning. This paper concerns the last of these and compares a number of approaches with regard to complexity, flexibility and application scope. Knowledge about these aspects is crucial in choosing an effective strategy for particular application domains.
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Ray Jarvis (2006) studied this question.