DENNIS NIEUWENHUISEN

This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick answers to queries in order to be useful. For example, an opponent in a training simulation needs to respond to the actions of the user without any significant delay. To achieve such performance, path planning methods usually use a preprocessing phase in which the environment is explored. As much computation time as possible is moved to this preprocessing phase such that at query time only little time is needed to solve an actual path planning query. This approach has led to many successful methods that are applicable to a broad range of problems... My publications on the topic of motion and navigation. These papers cover the following topics: randomized path planning, changeable environments,..