4. Travel management

In the implementation of a mobile robotic system, motion management is an essential function, at the root of any more complex autonomous action. It is generally broken down into three sub-functions: motion planning, motion execution control and state estimation.

Motion planning deals with the definition of a trajectory or path enabling the robot to carry out a task in its environment, such as reaching a point, exploring an area or coordinating with another robot to perform a complex action. In the case of mobile robotics, there are two main types of planning problem. The first is the definition of a path to join two or more points represented in a map modeling an environment with obstacles and considering the robot modeled by a geometric object representing its footprint on the ground. The second is the generation of trajectories compatible with the robot's mobility,...