Using state lattices for motion planning was new to me but seems like an elegant approach:<p><a href="http:&#x2F;&#x2F;people.csail.mit.edu&#x2F;rak&#x2F;www&#x2F;sites&#x2F;default&#x2F;files&#x2F;pubs&#x2F;PivKneKel09.pdf" rel="nofollow">http:&#x2F;&#x2F;people.csail.mit.edu&#x2F;rak&#x2F;www&#x2F;sites&#x2F;default&#x2F;files&#x2F;pubs...</a>