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Modern Robotics, Chapter 10.5:  Sampling Methods for Motion Planning (Part 2 of 2)
Modern Robotics, Chapter 10.2:  C-Space Obstacles
Modern Robotics, Chapter 10.1:  Overview of Motion Planning
Modern Robotics, Chapter 5:  Velocity Kinematics and Statics
Modern Robotics, Chapter 5.1.1:  Space Jacobian
Modern Robotics, Chapter 10.3:  Complete Path Planners