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This book includes significant recent research on robotic algorithms. It has been written by leading experts in the field.The 15th Workshop on the Algorithmic Foundations of Robotics (WAFR) was held on June 22–24, 2022, at the University of Maryland, College Park, Maryland. Each chapter represents an exciting state-of-the-art development in robotic algorithms that was presented at this 15th incarnation of WAFR.Different chapters combine ideas from a wide variety of fields, spanning and combining planning (for tasks, paths, motion, navigation, coverage, and patrol), computational geometry...