Thebasicproblemofmotionplanningistoselectapath,ortrajectory,fromagiveninitialstatetoadestinationstate,whileavoidingcollisionswithknownstaticandmovingobstacles.Ideally,itisdesirablethatthetrajectorytothegoalbecomputedonline,duringmotion,toallowtherobotreacttochangesintheenvi-ron