This is a "bible" for Planning Algorithms that is made freely available by Steven M. LaValle (http://msl.cs.uiuc.edu/~lavalle/index.html).

It is a cross domain between robotics, artificial intelligence, control theory, computer geometry and few other fields.
The book cannot cover every aspects but it provides a sound base to further dig into several correlated subjects.

Follows the Table of Contents:

• Introductory Material
  • Introduction
  • Discrete Planning
• Motion Planning
  • Geometric Representations and Transformations
  • The Configuration Space
  • Sampling-Based Motion Planning
  • Combinatorial Motion Planning
  • Extensions of Basic Motion Planning
• Decision-Theoric Planning
  • Basic Decision Theory
  • Sequential Decision Theory
  • Sensors and Information Spaces
  • Planning Under Sensing Uncertainty
• Planning Under Differential Constraints
  • Differential Models
  • Sampling-Based Planning Under Differential Constraints
  • System Theory and Analytical Techniques

Follows the links down below:

• http://planning.cs.uiuc.edu/book.pdf
• http://planning.cs.uiuc.edu/book.html
• Main Web Site: http://planning.cs.uiuc.edu/