This is a "bible" for Planning Algorithms that is made freely available by Steven M. LaValle (http://msl.cs.uiuc.edu/~lavalle/index.html).
It is a cross domain between robotics, artificial intelligence, control theory, computer geometry and few other fields.
The book cannot cover every aspects but it provides a sound base to further dig into several correlated subjects.
Follows the Table of Contents:
- Introductory Material
- Introduction
- Discrete Planning
- Motion Planning
- Geometric Representations and Transformations
- The Configuration Space
- Sampling-Based Motion Planning
- Combinatorial Motion Planning
- Extensions of Basic Motion Planning
- Decision-Theoric Planning
- Basic Decision Theory
- Sequential Decision Theory
- Sensors and Information Spaces
- Planning Under Sensing Uncertainty
- Planning Under Differential Constraints
- Differential Models
- Sampling-Based Planning Under Differential Constraints
- System Theory and Analytical Techniques