Principles of Robot Motion: Theory, Algorithms, and Implementation - Howie M. Choset, Seth Hutchinson, Kevin M. Lynch, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun - Google Books

http://books.google.de/books?id=S3biKR21i-QC&lpg=PA56&dq=configuration%20space%20Charts&hl=de&pg=PA55#v=onepage&q=configuration%

A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not…