Toward Real-Time Path Planning in Changing Environments, Peter Leven and Seth Hutchinson, to appear in Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR'00), March 2000. (ps)

Real-Time Path Planning in Changing Environments, Peter Leven and Seth Hutchinson, to appear in Proceedings of the International Symposium on Robotics, May 2000. (ps)

See some videos of example plans produced by a preliminary version of the planner described in the above papers here.

Perception-Based Motion Planning for Indoor Exploration, Peter Leven, Seth Hutchinson, Darius Burschka, and Georg Färber, Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA99), May 1999, pp. 695-701. (ps)