Over the years, Robotic Research has developed a number of different planners for numerous types of vehicles and missions. A planner is a software algorithm that is part of a robotic vehicle’s control system and is responsible for determining the motion of the vehicle. As the vehicle makes progress, the planner is continuously working to generate new trajectories or goals. A vehicle may use multiple planners at different levels of control, from mission level all the way down to drivetrain control. Robotic Reseach has developed many different types of planner techonologies including hieararchical graph-based planning, kinematically and dynamically correct planning, 4D planning in space and time, and high-maneuverability planning for vehicles in cluttered environments. The planners we develop apply to a wide range of vehicles, including ground, aerial, and sea platforms.