Here are notes on some papers and books in the field of robotics, with a particular focus on motion planning.

Trajectory planning for bertha—a local, continuous method


The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints are carefully designed to ensure that the solution converges to a single, global optimum.

Motion planning and control Misc.


  • The notion of configuration space is the key insight to Lagrangian mechanics of rigid bodies, as it allows dynamics to be expressed using the precise degrees of freedom of a body. [1]