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When the authors introduce uncertainty in control and position sensing, the same data structure allows them to find efficiently a compliant motion that reaches the goal, if one exists, to compute the boundary of the nondirectional backprojection of the goal, and to compute multistep plans for sensorless robots. This \u201cpreprocessing and query\u201d approach has advantages of speed for online queries and flexibility for considering robots with different capabilities or initial positions in the same environment.<\/jats:p>","DOI":"10.1137\/s0097539794263191","type":"journal-article","created":{"date-parts":[[2005,2,24]],"date-time":"2005-02-24T06:43:31Z","timestamp":1109227411000},"page":"562-599","source":"Crossref","is-referenced-by-count":11,"title":["Efficiently Planning Compliant Motion in the Plane"],"prefix":"10.1137","volume":"25","author":[{"given":"J.","family":"Friedman","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.","family":"Hershberger","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.","family":"Snoeyink","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"351","published-online":{"date-parts":[[2006,7,13]]},"reference":[{"key":"R1","volume-title":"Robot Motion: Planning and Control","author":"Brady M.","year":"1982"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1007\/BF01758843"},{"key":"R3","unstructured":"S. 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