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This paper presents a minimum displacement motion planning problem whereinobstacles are displaced by a minimum amount to find a feasible path. We definea metric for robot-obstacle intersection that measures the extent of theintersection and use this to penalize robot-obstacle overlaps. Employing theactual robot dynamics, the planner first finds a path through the obstaclesthat minimizes the robot-obstacle intersections. The metric is then used toiteratively displace the obstacles to achieve a feasible path. Several examplesare provided that successfully demonstrates the proposed problem.

Minimum Displacement Motion Planning for Movable Obstacles