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

本文回顾了使用 MIP（混合整数规划）进行运动规划领域的过去和现在的结果和方法。尽管在 2000 年代初期，MIP 仍被视为解决运动规划相关问题的方法，但如今，由于计算能力的提高和理论的进步，其广泛的建模能力和多功能性正在脱颖而出，并受到越来越多的应用和赞赏。 . 这类控制问题本质上涉及从有限数量的备选方案中进行选择，或者涉及非凸域上的约束优化问题。在这两种情况下，MIP 已被证明是一种有效的建模技术，正如本评论论文中将展示的那样。此外，