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Today, planners efficiently deal with robots with many degrees of                 freedom in complex environments. Techniques also exist to generate quasioptimal                 trajectories, coordinate multiple robots, deal with dynamic and kinematic                 constraints, and handle dynamic environments. This paper describes some of these                 achievements, presents new problems that have recently emerged, discusses                 applications likely to motivate future research, and finally gives expectations for                 the coming years. It stresses the fact that nonrobotics applications (e.g., graphic                 animation, surgical planning, computational biology) are growing in importance and                 are likely to shape future motion-planning research more than robotics itself.<\/jats:p>","DOI":"10.1177\/02783649922067753","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1119-1128","source":"Crossref","is-referenced-by-count":200,"title":["Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts"],"prefix":"10.1177","volume":"18","author":[{"given":"Jean-Claude","family":"Latombe","sequence":"first","affiliation":[{"name":"Stanford University, Stanford, CA 94305, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1999,11]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"Alami R. Laumond J. P. and Sim\u00e9on T. 1995. 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