Robot Planning algorithms - free on-line book

FYI:
Planning Algorithms By Steven M. LaValle, Copyright 2006 Cambridge University Press, 842 pages To buy: Cambridge ($63) Amazon ($46.40)
This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
A free on-line version is now available at: http://planning.cs.uiuc.edu/web.html
Regards, Arie de Muynck
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At first I thought this was just another link to a ripped-off book PDF, but not only is it offered freely by the author, there are *tons* of links and free info to be found here!
Most of it is way over my head, but if you're so inclined there is C++ code, articles on Abusing Roomba Robots, Motion Planning, and topics such as "Minimum wheel-rotation paths for differential-drive mobile robots". Some of the titles alone give me some new ideas.
Grab a big cup of coffee and browse away!
Thank you very much for posting this link, Arie! JCDeen
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