Mixed-integer programming in motion planning

This paper presents a review of past and present results approaches in the area motion planning using MIP (Mixed-integer Programming). Although early 2000s was still seen with reluctance as method for solving planning-related problems, nowadays, due to increases computational power theoretical advances, its extensive modeling capabilities versatility are coming fore enjoy increased application appreciation. class control problems involves, essentially, either selection from limited number alternatives or constrained optimization problem over non-convex domain. In both situations, has proven be an efficient technique it will shown paper. Furthermore, emphasis is laid on existing implementation various experimental validations documented literature.