four, one per wheel

a single motor with driving belts

robot pose covariance matrix and the covariance matrices of respective landmarks

robot pose covariance matrices in the consecutive time moments (along the trajectory)

cross-covariance matrices between the landmarks and the robot's pose

differential drive

tricycle drive

synchro drive

The paths planned using visibility graph may be incident to the vertices of the polygonal obstacles.

Paths created with the Voronoi graph method tend to keep equal distances to the enighboring obstacles.

The Voronoi graph method produces shorter paths than the visibility graph method.

external forces, e.g. caused by a jammed caster wheel

differences in diameter of driving wheels (e.g. due to tyre wear)

bumps and/or potholes on the surface

a probabilistic method applying Bayes filter

using Hamming distance

a probabilistic method with Mahalanobis distance

all modules are equal in the hierarchy.

all modules are divided into layers with a strictly defined hierarchy. Layers occupying a higher level in the hierarchy, define a task and send it to lower, subordinate levels.

modules are divided into layers with a strictly defined hierarchy.

Tee layers are independent. Layers occupying a higher level in the hierarchy perform more important tasks.

a physical agent that performs tasks by manipulating the physical world

an agent that can perform useful tasks

a software agent that is intended for specific hardware

is a method designed mainly for motion planning problems with multiple queries (multi-query).

is a motion planning method designed for car-like vehicles.

is a method designed mainly for motion planning problems with single queries (single-query).

the distance between the axes and the steering wheels maximum deflection angle

the steering wheels maximum deflection angle

the wheels basis (width) and the steering wheels maximum deflection angle