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Extract from base_local_planner wiki

ROS path planning is based on Trajectory Rollout and Dynamic Window Approach (DWA) algorithms which are proposed in below papers.

Brian P. Gerkey and Kurt Konolige. "Planning and Control in Unstructured Terrain ". Discussion of the Trajectory Rollout algorithm in use on the LAGR robot.

D. Fox, W. Burgard, and S. Thrun. "The dynamic window approach to collision avoidance". The Dynamic Window Approach to local control.

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