Knowledge Base

Research notes organized by topic. Click any section to expand.

motion-planning 18

Motion Planning

Foundations 4

What is Motion Planning? Primer

Configuration Spaces and Robot Geometry Primer

Collision Checking and Environment Models Coming soon Primer

Discrete Planning: Graph Search, Grids, and Lattices Coming soon Primer

Classical Planning 4

Reactive and Local Planning: Potential Fields, DWA, and Velocity Obstacles Coming soon Core

Probabilistic Roadmaps Coming soon Core

Rapidly-Exploring Random Trees Coming soon Core

Optimal and Informed Sampling-Based Planning Coming soon In-Depth

Optimization & Dynamics 3

Trajectory Optimization: CHOMP, STOMP, TrajOpt, and GCS Coming soon In-Depth

Kinodynamic Planning Coming soon In-Depth

Planning Under Uncertainty: Robust, Chance-Constrained, and Belief-Space Methods Coming soon In-Depth

Practice 1

Software, Benchmarks, and Reproducibility Coming soon Core

Extensions 2

Multi-Robot Motion Planning Coming soon In-Depth

Task and Motion Planning Coming soon In-Depth

Modern Planning 3

Learning-Based Motion Planning Coming soon In-Depth

Neural Motion Planning and Diffusion Models Coming soon In-Depth

Frontier Seminar: Open Problems in Motion Planning Coming soon In-Depth

Cite this resource

@online{zandonati2026knowledgebase,
  author    = {Ben Zandonati},
  title     = {Zandonati Online Robotics Knowledge Base},
  year      = {2026},
  month     = {may},
  url       = {https://benzandonati.co.uk/notes/},
  urldate   = {2026-05-10},
  note      = {Online; accessed 2026-05-10},
}

Ben Zandonati (2026). Zandonati Online Robotics Knowledge Base. Retrieved from https://benzandonati.co.uk/notes/