The ability to move and operate in the environment, unplanned arbitrary will cause a new robot automate various tasks, such as patient care, toxic site cleanup, and planetary exploration. The approach opens the door for the robot to handle unstructured tasks known as Sensing-Intelligence-Motion (SIM), which draw from research in topology, computational complexity, control theory, and sensing hardware. Using the SIM as a base, the author carefully structured presentation is designed to: * Formulate challenge sensor-based motion planning and then build a theoretical basis for the strategy of sensor-based motion planning * Investigate promising algorithmic strategies for mobile robots and robotic manipulator arm, in both cases dealing with motion planning for whole body robot * Compare the performance of robots to human performance in sensor-based motion planning to get a better insight into the SIM challenge and help develop a synergistic human-robot team tasks for tele-operation. It is both interesting and encouraging to find that the performance of the robot firmly exceed human performance in certain tasks that require spatial reasoning, even when compared with trained operators * Review of sensing hardware needed to realize the SIM paradigm Some 200 illustrations, graphic sketches, and photographs, including to clarify key issues, develop and validate the approach of motion planning, and demonstrate full system in operation. As the first book entirely devoted to robot motion planning in unstructured environments, Sensing, Intelligence, Motion is a must-read engineers, scientists, and researchers involved in robotics.