Survey of motion planning literature in the presence of uncertainty: Considerations for UAV guidance

Navid Dadkhah, Bérénice Mettler

Research output: Contribution to journalArticle

71 Scopus citations


This paper provides a survey of motion planning techniques under uncertainty with a focus on their application to autonomous guidance of unmanned aerial vehicles (UAVs). The paper first describes the primary sources of uncertainty arising in UAV guidance and then describes relevant practical techniques that have been reported in the literature. The paper makes a point of distinguishing between contributions from the field of robotics and artificial intelligence, and the field of dynamical systems and controls. Mutual and individual contributions for these fields are highlighted providing a roadmap for tackling the UAV guidance problem.

Original languageEnglish (US)
Pages (from-to)233-246
Number of pages14
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1-4
StatePublished - Jan 1 2012



  • Autonomous guidance
  • Motion planning
  • Sensing
  • Survey
  • UAV
  • Uncertainty

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