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The motivation lead ing to its development is discussed, along with its theory and properties. By way of example, its application in a naive path planning algorithm is described, which leads to surprising results when compared with a contemporary subdivision method.<\/jats:p>","DOI":"10.1177\/027836498900800303","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"44-64","source":"Crossref","is-referenced-by-count":25,"title":["A Foundation for the \"Flexible-Trajectory\" Approach to Numeric Path Planning"],"prefix":"10.1177","volume":"8","author":[{"given":"C.E.","family":"Buckley","sequence":"first","affiliation":[{"name":"Wiesgasse 9 8304 Wallisellen, Switzerland"}]}],"member":"179","published-online":{"date-parts":[[1989,6,1]]},"reference":[{"key":"atypb1","volume-title":"Nonlinear Programming: Analysis and Methods","author":"Avriel, M.","year":"1976"},{"key":"atypb2","volume-title":"A subdivision algorithm in configuration space for findpath with rotation","author":"Brooks, R.A.","year":"1982"},{"key":"atypb3","volume-title":"The Application of Continuum Methods to Path-Planning. 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