Time-Enabled Motion Planning introduces a formal framework for finding collision-free paths when objects must move with speed limits in environments with moving obstacles.

Learn how adding time transforms static planning into a dynamic problem with new challenges and solutions. This work explains how to model configurations as pairs of time and position, define feasible motions, and use time-configuration space to ensure safety. It presents algorithms based on a visibility graph and other geometric structures, along with preprocessing and query strategies to handle fast decisions in complex environments.

How time is incorporated into configuration spaces and why it matters for real-world motion planning.
Algorithms to determine if a path exists that respects speed limits and avoids moving obstacles.
Planar maps and sweep-line techniques used to compute and query safe motions.
Applications, generalizations, and open problems in time-aware planning.

Ideal for readers who want a rigorous, practical approach to motion planning in dynamic environments, from graduate students to researchers and engineers.

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