Constrained motion planning in discrete state spaces

Summary. We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alternatives. This set of motion primitives preserves the connectivity of the representation while eliminating redundancy – leading to a very efficient structure for motion planning at the chosen resolution. Key words: nonholonomic motion planning lattice control set