NYIPLA 2005 Inventor of the Year
Karen I. Trovato and Leendert Dorst
Method and Apparatus for Path Planning

Karen Trovato and Leo Dorst won the '2005 Inventor of the Year' award from the New York Intellectual Property Law Association, for our invention 'Method and Apparatus for Path Planning'. The basic patent application was filed in 1987, and granted in 2003. It was one of the test cases in the patenting of software, and has quite a track record in patent law. This page collects some of the relevant documents.

Here is some technical background: patent text, legal documents, and Karen's Ph.D. thesis.

There is a lot more, but this will give you the gist.