Towards a Taxonomy of Planning for Autonomous Systems

This paper presents a vision of planners, particularly for UAVs, from both an architectural and algorithmic perspective. It reviews key approaches and develops a taxonomy of planning methods. This paper explores various differences and similarities. A technical baseline is developed throughout this process to highlight current research interests, demand signals, and possible gaps in the research. Descriptions of the fundamental issues and limitations of present methods are also included. A common taxonomy will help researchers to coordinate efforts to build more general and powerful planning algorithms.