Planning Algorithms
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Steven LaValle's official page for his 842-page planning textbook, with the entire book free to read online plus errata and a full BibTeX reference list. Readers can study configuration spaces, sampling-based planners, and planning under uncertainty without buying the print edition.
More resources on Motion Planning
ros.org
ROS.org is the official portal for the Robot Operating System, a flexible, open-source framework for building robot software. It provides comprehensive documentation, tutorials, API references, distribution releases, and community resources to help learners and developers build and deploy robotics applications.
MoveIt
Open-source motion planning framework for ROS robot arms, with documentation and step-by-step tutorials. Covers setting up a robot's configuration, planning collision-free trajectories, inverse kinematics, grasping, and executing motions in simulation or on real manipulators.
OMPL
Free C++ library from Rice University's Kavraki Lab implementing sampling-based motion planners such as PRM, RRT, and their variants. The site provides documentation, tutorials, and demos showing how to define state spaces, validity checkers, and planning problems.
Underactuated Robotics (MIT 6.832)
Nonlinear dynamics and control of underactuated systems such as walkers, swimmers and flyers: motion planning, partial feedback linearization, energy shaping, optimal control and reinforcement learning. Includes 23 lecture videos, problem sets with solutions and projects, preparing learners to design controllers that exploit natural dynamics.
theconstructsim.com
The Construct is an online learning platform offering hands-on ROS tutorials and courses, featuring Gazebo-based simulations and practical projects to teach ROS fundamentals, ROS 2, and robotics programming.
Modern Robotics: Mechanics, Planning, and Control
Northwestern and Seoul National University textbook built around screw theory and the product-of-exponentials formula. Covers configuration space, rigid-body motions, forward and inverse kinematics, dynamics, trajectory generation, motion planning, and robot control, with accompanying free software and video lectures.