R. Allen and M. Pavone, Toward a real-time framework for solving the kinodynamic motion planning problem, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.928-934, 2015.

. Nancy-m-amato, . O-burchan-bayazit, . Lucia, and . Dale, OBPRM: An obstacle-based PRM for 3D workspaces, p.13, 1998.

J. Barraquand and J. Latombe, A Monte-Carlo algorithm for path planning with many degrees of freedom, IEEE International Conference on, pp.1712-1717, 1990.

J. Barraquand and J. Latombe, Robot motion planning: A distributed representation approach, The International Journal of Robotics Research, vol.10, issue.6, pp.628-649, 1991.

. Kostas-e-bekris, E. Lydia, and . Kavraki, Greedy but safe replanning under kinodynamic constraints, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.704-710, 2007.

K. Bekris and . Kavraki, Informed and probabilistically complete search for motion planning under differential constraints, First International Symposium on Search Techniques in Artificial Intelligence and Robotics (STAIR), 2008.

D. P. Dimitri-p-bertsekas, D. P. Bertsekas, . Bertsekas, P. Dimitri, and . Bertsekas, Dynamic programming and optimal control, Athena Scientific Belmont, vol.1, 1995.

P. Bessiere, J. Ahuactzin, E. Talbi, and E. Mazer, The "Ariadne's clew" algorithm: global planning with local methods, Intelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on, vol.2, p.14, 1993.

T. John and . Betts, Survey of numerical methods for trajectory optimization, Journal of guidance, control, and dynamics, vol.21, issue.2, pp.193-207, 1998.

S. James-e-bobrow, . Dubowsky, and . Gibson, Time-optimal control of robotic manipulators along specified paths, The international journal of robotics research, vol.4, pp.3-17, 1985.

R. Bohlin, E. Lydia, and . Kavraki, Path planning using lazy PRM, Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol.1, pp.521-528, 2000.

V. Boor, H. Mark, . Overmars, . Van-der-stappen, and . Frank, The Gaussian sampling strategy for probabilistic roadmap planners, Robotics and automation, 1999. proceedings. 1999 ieee international conference on, vol.2, p.13, 1999.

. Roger-w-brockett, Control theory and singular riemannian geometry, vol.20, 1982.

, John Canny. The complexity of robot motion planning, vol.7, 1988.

J. Canny, B. Donald, J. Reif, and P. Xavier, On the complexity of kinodynamic planning, 1988.

J. Canny, A. Rege, and J. Reif, An exact algorithm for kinodynamic planning in the plane, Proceedings of the sixth annual symposium on Computational geometry, pp.271-280, 1990.

H. Chang, . Tsai-yen, and . Li, Assembly maintainability study with motion planning, IEEE International Conference on, vol.1, pp.1012-1019, 1995.

P. Cheng and . Steven-m-lavalle, Reducing metric sensitivity in randomized trajectory design, IEEE/RSJ International Conference on, vol.1, pp.43-48, 2001.

P. Cheng and . Steven-m-lavalle, Resolution complete rapidlyexploring random trees, ICRA, vol.23, pp.267-272, 2002.

J. Cortes, T. Siméon, and J. Laumond, A random loop generator for planning the motions of closed kinematic chains using PRM methods, Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol.2, pp.2141-2146, 2002.
URL : https://hal.archives-ouvertes.fr/hal-01988698

J. Cortés and . Thierry-siméon, Sampling-based motion planning under kinematic loop-closure constraints, Algorithmic Foundations of Robotics VI, pp.75-90, 2004.

D. Ian, J. Cowling, and . Cooke, Optimal trajectory planning and LQR control for a quadrotor UAV, UKACC International Conference on Control, p.26, 2006.

S. Dalibard and J. Laumond, Control of probabilistic diffusion in motion planning, Algorithmic Foundation of Robotics VIII, vol.17, pp.467-481, 2009.

, Robin Deits et Russ Tedrake. Efficient mixed-integer planning for UAVs in cluttered environments, 2015 IEEE International Conference on Robotics and Automation (ICRA), p.27, 2015.

D. Devaurs, T. Siméon, and J. Cortes, Enhancing the transition-based RRT to deal with complex cost spaces, Robotics and Automation (ICRA), 2013 IEEE International Conference on, p.17, 2013.
DOI : 10.1109/icra.2013.6631158

URL : https://hal.archives-ouvertes.fr/hal-00872224

D. Devaurs, T. Siméon, and J. Cortes, A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces, IEEE/RSJ International Conference on, p.17, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01057030

D. Devaurs, T. Siméon, and J. Cortés, Efficient samplingbased approaches to optimal path planning in complex cost spaces, Algorithmic Foundations of Robotics XI, p.17, 2015.
DOI : 10.1007/978-3-319-16595-0_9

URL : https://hal.archives-ouvertes.fr/hal-01062970

B. Donald, P. Xavier, J. Canny, and J. Reif, Kinodynamic motion planning, Journal of the ACM (JACM), vol.40, issue.5, pp.1048-1066, 1993.

B. Donald and P. G. Xavier, Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open-chain manipulators, Algorithmica, vol.14, issue.6, pp.480-530, 1995.
DOI : 10.1007/bf01586637

URL : http://www.cs.duke.edu/~brd/papers/www-f/algorithmica-1.pdf

B. Donald and P. G. Xavier, Provably good approximation algorithms for optimal kinodynamic planning, Robots with decoupled dynamics bounds. Algorithmica, vol.14, pp.443-479, 1995.
DOI : 10.1109/robot.1989.100104

URL : https://ecommons.cornell.edu/bitstream/1813/6787/1/88-947.pdf

. Lester-e-dubins, On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, American Journal of mathematics, vol.79, issue.3, pp.497-516, 1957.

A. Ettlin and H. Bleuler, Randomised rough-terrain robot motion planning. In Intelligent Robots and Systems, IEEE/RSJ International Conference on, vol.17, pp.5798-5803, 2006.
DOI : 10.1109/iros.2006.282390

A. Ettlin and H. Bleuler, Rough-terrain robot motion planning based on obstacleness, Control, Automation, Robotics and Vision, 2006. ICARCV'06. 9th International Conference on, p.17, 2006.
DOI : 10.1109/icarcv.2006.345116

B. Faverjon, Obstacle avoidance using an octree in the configuration space of a manipulator, Robotics and Automation. Proceedings. 1984 IEEE International Conference on, vol.1, pp.504-512, 1984.

C. Fernandes, . Gurvits, and . Li, Optimal nonholonomic motion planning for a falling cat, Nonholonomic motion planning, pp.379-421, 1993.

S. Fleury, P. Soueres, J. Laumond, and R. Chatila, Primitives for smoothing mobile robot trajectories, IEEE transactions on robotics and automation, vol.11, issue.3, pp.441-448, 1995.

M. Fliess and . Lévine, Ph Martin et P Rouchon. On differentially flat nonlinear systems, IFAC SYMPOSIA SERIES, p.37, 1992.

T. Fraichard and C. Laugier, Kinodynamic planning in a structured and time-varying workspace, Geometric Reasoning for Perception and Action, pp.19-37, 1993.

T. Fraichard, Trajectory planning in a dynamic workspace: a'state-time space'approach, Advanced Robotics, vol.13, issue.1, pp.75-94, 1998.
URL : https://hal.archives-ouvertes.fr/inria-00073139

. Thierry-fraichard-et-hajime and . Asama, Inevitable collision statesA step towards safer robots, Advanced Robotics, vol.18, issue.10, p.97, 2004.

E. Frazzoli, A. Munther, E. Dahleh, and . Feron, Robust hybrid control for autonomous vehicle motion planning, Proceedings of the 39th IEEE Conference on, vol.1, pp.821-826, 2000.

V. Gavrilets, E. Frazzoli, and B. Mettler, Michael Piedmonte et Eric Feron. Aggressive maneuvering of small autonomous helicopters: A human-centered approach, The International Journal of Robotics Research, vol.20, issue.10, pp.795-807, 2001.

R. Geraerts, H. Mark, and . Overmars, Creating high-quality paths for motion planning, The International Journal of Robotics Research, vol.26, issue.8, pp.845-863, 2007.

M. Ghallab, D. Nau, and P. Traverso, Automated planning: theory and practice, vol.87, 2004.
URL : https://hal.archives-ouvertes.fr/hal-01982019

P. Giordano, M. Vendittelli, J. Laumond, and P. Soueres, Nonholonomic distance to polygonal obstacles for a carlike robot of polygonal shape, IEEE Transactions on Robotics, vol.22, issue.5, p.11, 2006.

E. Glassman and R. Tedrake, A quadratic regulator-based heuristic for rapidly exploring state space, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.5021-5028, 2010.

C. Goerzen, Z. Kong, and B. Mettler, A survey of motion planning algorithms from the perspective of autonomous UAV guidance, Journal of Intelligent and Robotic Systems, vol.57, issue.1-4, p.26, 2010.

A. Gustavo-goretkin, R. Perez, G. Platt, and . Konidaris, Optimal sampling-based planning for linear-quadratic kinodynamic systems, Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp.2429-2436, 2013.

, Derivative of Rotation Matrix Direct Matrix Derivation of Well Known Formula, p.37, 2013.

M. Hehn, D. Raffaello, and . Andrea, Quadrocopter trajectory generation and control, IFAC Proceedings Volumes, vol.44, p.26, 2011.

G. Heinzinger and P. Jacobs, John Canny et Bred Paden. Timeoptimal trajectories for a robot manipulator: A provably good approximation algorithm, IEEE International Conference on, pp.150-156, 1990.

]. Howlett, M. Whalley, . Tsenkov, . Schulein, and . Takahashi, Flight evaluation of a system for unmanned rotorcraft reactive navigation in uncertain urban environments, Annual forum proceedings, vol.63, p.28, 2007.

D. Hsu, J. Latombe, and R. Motwani, Path planning in expansive configuration spaces, IEEE International Conference on, vol.3, p.14, 1997.

D. Hsu, L. E. Kavraki, J. Latombe, R. Motwani, and S. Sorkin, On finding narrow passages with probabilistic roadmap planners, Robotics: The Algorithmic Perspective: 1998 Workshop on the Algorithmic Foundations of Robotics, p.13, 1998.

D. Hsu, Randomized single-query motion planning in expansive spaces, p.14, 2000.

D. Hsu, R. Kindel, J. Latombe, and S. Rock, Randomized kinodynamic motion planning with moving obstacles, The International Journal of Robotics Research, vol.21, issue.3, pp.233-255, 2002.

L. Jaillet, A. Yershova, S. Valle, and T. Siméon, Adaptive tuning of the sampling domain for dynamic-domain RRTs, 2005 IEEE/RSJ International Conference on, p.17, 2005.
URL : https://hal.archives-ouvertes.fr/hal-01987611

L. Jaillet, J. Cortés, and . Thierry-siméon, Sampling-based path planning on configuration-space costmaps. Robotics, IEEE Transactions on, vol.26, issue.4, pp.635-646, 2010.
URL : https://hal.archives-ouvertes.fr/hal-01986202

L. Janson, E. Schmerling, A. Clark, and M. Pavone, Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions, The International journal of robotics research, p.0278364915577958, 2015.

K. Mclain, Spline based path planning for unmanned air vehicles, AIAA Guidance, Navigation, and Control Conference and Exhibit, p.27, 2001.

K. Kant, W. Steven, and . Zucker, Toward efficient trajectory planning: The path-velocity decomposition, The International Journal of Robotics Research, vol.5, issue.3, pp.72-89, 1986.

E. Sertac-karaman and . Frazzoli, Optimal kinodynamic motion planning using incremental sampling-based methods, 49th IEEE conference on decision and control (CDC), pp.7681-7687, 2010.

E. Sertac-karaman and . Frazzoli, Sampling-based algorithms for optimal motion planning, The International Journal of Robotics Research, vol.30, issue.7, pp.846-894, 2011.

P. Lydia-e-kavraki, J. ?vestka, . Latombe, H. Mark, and . Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces. Robotics and Automation, IEEE Transactions on, vol.12, issue.4, p.11, 1996.

J. Lydia-e-kavraki, . Latombe, and . Latombe, Probabilistic roadmaps for robot path planning, p.14, 1998.

S. Khanmohammadi and A. Mahdizadeh, Density avoided sampling: An intelligent sampling technique for rapidly-exploring random trees, Hybrid Intelligent Systems, 2008. HIS'08. Eighth International Conference on, p.16, 2008.

O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, The international journal of robotics research, vol.5, issue.1, pp.90-98, 1986.

R. Kindel, D. Hsu, J. Latombe, and S. Rock, Kinodynamic motion planning amidst moving obstacles, Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol.1, pp.537-543, 2000.

Y. Koren and J. Borenstein, Potential field methods and their inherent limitations for mobile robot navigation, Robotics and Automation, 1991. Proceedings, vol.7, pp.1398-1404, 1991.

J. James, . Kuffner, and . Steven-m-lavalle, RRT-connect: An efficient approach to single-query path planning, Proceedings. ICRA'00. IEEE International Conference on, vol.2, p.15, 2000.

L. E. Andrew-m-ladd and . Kavraki, Fast tree-based exploration of state space for robots with dynamics, Algorithmic Foundations of Robotics VI, pp.297-312, 2004.

F. Lamiraux and J. Laumond, From paths to trajectories for multi-body mobile robots, Experimental Robotics V, pp.301-309, 1998.

F. Lamiraux and J. Lammond, Smooth motion planning for car-like vehicles, IEEE Transactions on Robotics and Automation, vol.17, issue.4, pp.498-501, 2001.

J. Latombe, Robot motion planning, vol.124, 2012.

B. Lau, C. Sprunk, and W. Burgard, Kinodynamic motion planning for mobile robots using splines, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2427-2433, 2009.

J. Laumond and P. Soueres, Metric induced by the shortest paths for a car-like mobile robot, Intelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on, vol.2, p.11, 1993.

J. Laumond, . Sekhavat, and . Lamiraux, Guidelines in nonholonomic motion planning for mobile robots, vol.10, 1998.

. Steven-m-lavalle, Rapidly-Exploring Random Trees: A New Tool for Path Planning, p.15, 1998.

. Steven-m-lavalle, . James, and . Kuffner, Rapidly-exploring random trees: Progress and prospects, p.15, 2000.

. Steven-m-lavalle, J. James, and . Kuffner, Randomized kinodynamic planning, The International Journal of Robotics Research, vol.20, issue.5, pp.378-400, 2001.

. Steven-m-lavalle, Planning algorithms, 2006.

T. Lee, M. Leoky, and H. Mcclamroch, Geometric tracking control of a quadrotor UAV on SE (3), Decision and Control (CDC), 2010 49th IEEE Conference on, p.71, 2010.

. Frank-l-lewis, L. Vassilis, and . Syrmos, , 1995.

]. Li and K. E. Bekris, Balancing state-space coverage in planning with dynamics, ICRA, pp.3246-3253, 2010.

]. Li, Z. Littlefield, E. Kostas, and . Bekris, Asymptotically optimal sampling-based kinodynamic planning, The International Journal of Robotics Research, vol.35, issue.5, pp.528-564, 2016.

J. Lien and S. Amato, A general framework for sampling on the medial axis of the free space, Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, vol.3, p.13, 2003.

T. Lozano-pérez, Spatial planning: A configuration space approach. Computers, IEEE Transactions on, vol.100, issue.2, pp.108-120, 1983.

T. Lozano-perez, A simple motion-planning algorithm for general robot manipulators. Robotics and Automation, IEEE Journal, vol.3, issue.3, pp.224-238, 1987.

B. Macallister, J. Butzke, and A. Kushleyev, Harsh Pandey et Maxim Likhachev. Path planning for non-circular micro aerial vehicles in constrained environments, Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp.3933-3940, 2013.

D. Mellinger and V. Kumar, Minimum snap trajectory generation and control for quadrotors, Robotics and Automation (ICRA), 2011.

, IEEE International Conference on, pp.2520-2525, 2011.

N. Metropolis and S. Ulam, The monte carlo method, Journal of the American statistical association, vol.44, issue.247, pp.335-341, 1949.

M. Mark-w-mueller, . Hehn, D. Raffaello, and . Andrea, A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3480-3486, 2013.

L. E. Christian-l-nielsen and . Kavraki, A two level fuzzy PRM for manipulation planning, Proceedings. 2000 IEEE/RSJ International Conference on, vol.3, p.13, 2000.

J. Nils and . Nilsson, A mobile automaton: An application of artificial intelligence techniques, vol.7, 1969.

C. Nissoux, Visibilité et méthodes probabilistes pour la planification de mouvement en robotique, p.13, 1999.

, Colm Ó'Dúnlaing. Motion planning with inertial constraints. Algorithmica, vol.2, issue.1-4, pp.431-475, 1987.

. James-p-ostrowski, P. Jaydev, V. Desai, and . Kumar, Optimal gait selection for nonholonomic locomotion systems, The International journal of robotics research, vol.19, issue.3, pp.225-237, 2000.

, Jufeng Peng et Srinivas Akella. Coordinating multiple robots with kinodynamic constraints along specified paths, The International Journal of Robotics Research, vol.24, issue.4, pp.295-310, 2005.

A. Perez, R. Platt, G. Konidaris, L. Kaelbling, and T. Lozano-perez, LQR-RRT*: Optimal sampling-based motion planning with automatically derived extension heuristics, Robotics and Automation (ICRA), 2012 IEEE International Conference on, p.22, 2012.

M. Piedmonte and E. Feron, Aggressive maneuvering of autonomous aerial vehicles: a human-centered approach, ROBOTICS RESEARCH-INTERNATIONAL SYMPOSIUM, vol.9, pp.413-420, 2000.

M. Pivtoraiko and A. Kelly, Kinodynamic motion planning with state lattice motion primitives, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2172-2179, 2011.

. Lydia-e-kavraki, Y. Moshe, and . Vardi, Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning, Robotics: Science and Systems, pp.326-333, 2007.

. John-h-reif, Complexity of the mover's problem and generalizations extended abstract, Proceedings of the 20th Annual IEEE Conference on Foundations of Computer Science, pp.421-427, 1979.

J. Reif and . Wang, Non-uniform discretization approximations for kinodynamic motion planning. Algorithms for Robotic Motion and Manipulation, pp.97-112, 1997.

C. Richter, A. Bry, and N. Roy, Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments, Robotics Research, pp.649-666, 2016.

M. Rickert, O. Brock, and A. Knoll, Balancing exploration and exploitation in motion planning, ICRA 2008. IEEE International Conference on, p.17, 2008.

S. Rodriguez, X. Tang, J. Lien, M. Nancy, and . Amato, An obstacle-based rapidly-exploring random tree, Proceedings 2006 IEEE International Conference on, p.16, 2006.

G. Sahar, M. John, and . Hollerbach, Planning of minimum-time trajectories for robot arms, The International journal of robotics research, vol.5, issue.3, pp.90-100, 1986.

]. Sánchez and J. Latombe, A single-query bidirectional probabilistic roadmap planner with lazy collision checking, Robotics Research, p.16, 2003.

S. Scherer and S. Singh, Lyle Chamberlain et Srikanth Saripalli. Flying fast and low among obstacles, Proceedings 2007 IEEE International Conference on Robotics and Automation, p.27, 2007.

T. Schouwenaars, B. Mettler, E. Feron, and J. How, Hybrid model for trajectory planning of agile autonomous vehicles, Journal of Aerospace Computing, Information, and Communication, vol.1, issue.12, pp.629-651, 2004.

J. Schulman, Y. Duan, J. Ho, A. Lee, I. Awwal et al., Sachin Patil, Ken Goldberg et Pieter Abbeel. Motion planning with sequential convex optimization and convex collision checking, The International Journal of Robotics Research, vol.33, issue.9, pp.1251-1270, 2014.

M. Jacob-t-schwartz and . Sharir, On the piano movers' problem: III. Coordinating the motion of several independent bodies: the special case of circular bodies moving amidst polygonal barriers, The International Journal of Robotics Research, vol.2, issue.3, pp.46-75, 1983.

M. Shanmugavel, A. Tsourdos, R. Zbikowski, A. Brian, . White et al., A solution to simultaneous arrival of multiple UAVs using Pythagorean Hodograph curves, American Control Conference, p.27, 2006.

M. Shanmugavel, A. Tsourdos, B. White, and R. ?bikowski, Co-operative path planning of multiple UAVs using Dubins paths with clothoid arcs, Control Engineering Practice, vol.18, issue.9, p.27, 2010.

Z. Shiller and S. Dubowsky, On computing the global time-optimal motions of robotic manipulators in the presence of obstacles. Robotics and Automation, IEEE Transactions on, vol.7, issue.6, pp.785-797, 1991.

K. Shin and . Mckay, Minimum-time control of robotic manipulators with geometric path constraints, IEEE Transactions on Automatic Control, vol.30, issue.6, pp.531-541, 1985.

A. Shkolnik, M. Walter, and R. Tedrake, Reachability-guided sampling for planning under differential constraints, Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp.2859-2865, 2009.

J. Thierry-siméon, C. Laumond, and . Nissoux, Visibility-based probabilistic roadmaps for motion planning, Advanced Robotics, vol.14, issue.6, pp.477-493, 2000.

T. Siméon, J. Laumond, and F. Lamiraux, Move3D: a generic platform for path planning, Proc. IEEE ISATP, 2001.

L. Singh and J. Fuller, Trajectory generation for a UAV in urban terrain, using nonlinear MPC, American Control Conference, vol.3, pp.2301-2308, 2001.

R. Spica, Planning and control for aerial grasping with a quadrotor UAV, vol.38, 2012.

R. Spica, A. Franchi, G. Oriolo, H. Heinrich, P. Bülthoff et al., Aerial grasping of a moving target with a quadrotor UAV, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, p.27, 2012.

. Ioan-a-?ucan, E. Lydia, and . Kavraki, Kinodynamic motion planning by interior-exterior cell exploration, Algorithmic Foundation of Robotics VIII, pp.449-464, 2009.

. Ioan-a-?ucan, E. Lydia, and . Kavraki, A sampling-based tree planner for systems with complex dynamics, IEEE Transactions on Robotics, vol.28, issue.1, pp.116-131, 2012.

]. Suzuki, Y. Komatsu, S. Yonezawa, K. Masui, and H. Tomita, Online four-dimensional flight trajectory search and its flight testing, AIAA Guidance, Navigation, and Control Conference and Exhibit, p.27, 2005.

M. Takahashi, . Schulein, and . Whalley, Flight control law design and development for an autonomous rotorcraft, Annual forum proceedings, vol.64, p.1652, 2008.

C. Van-geem, . Siméon, and . Cortés, Progress Report on Collision Detection. Second Year Deliverables of the MOLOG Project, Geem, p.13, 2001.

N. Vandapel, J. Kuffner, and O. Amidi, Planning 3d path networks in unstructured environments, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, p.27, 2005.

N. M. Steven-a-wilmarth, . Amato, E. Peter, and . Stiller, MAPRM: A probabilistic roadmap planner with sampling on the medial axis of the free space, Proceedings. 1999 IEEE International Conference on, vol.2, p.13, 1999.

M. Wzorek, G. Conte, P. Rudol, T. Merz, S. Duranti et al., From motion planning to control-a navigation framework for an autonomous unmanned aerial vehicle, 21th Bristol UAV Systems Conference, 2006.

. Oleg-a-yakimenko, Direct method for rapid prototyping of nearoptimal aircraft trajectories, Journal of Guidance, Control, and Dynamics, vol.23, issue.5, pp.865-875, 2000.

A. Yershova, L. Jaillet, T. Siméon, and . Steven-m-lavalle, Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain, Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, p.16, 2005.
URL : https://hal.archives-ouvertes.fr/hal-01987538

M. Zucker, N. Ratliff, M. Anca-d-dragan, M. Pivtoraiko, . Klingensmith et al., Chomp: Covariant hamiltonian optimization for motion planning, The International Journal of Robotics Research, vol.32, issue.9, pp.1164-1193, 2013.