Motion Strategy Algorithms and Applications

COM S 476
  1. Credits and contact hours: 3 credits, 3 contact hours
  2. Instructor’s or course coordinator’s name: Guang Song/Tichakorn Wongpiromsarn (Nok)
  3. Text book, title, author, and yearPlanning Algorithms, Steve LaValle, 2006. The textbook is freely available at
  4. Other supplemental materialsRobot Motion, Theory, Algorithms, and Implementations, By Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun, 2005

Specific course information

  1. Brief description of the content of the course: Recent techniques for developing algorithms that automatically generate continuous motions while satisfying geometric constraints. Applications in areas such as robotics and graphical animation. Basic path planning. Kinematics, configuration space, and topological issues. Collision detection. Randomized planning. Nonholonomic systems. Optimal decisions and motion strategies. Coordination of Multiple Bodies. Representing and overcoming uncertainties. Visibility-based motion strategies. Implementation of software that computes motion strategies. Written reports. 
  2. Prerequisites or co-requisites: COM S 311 or permission of instructor
  3. Required, elective, or selected elective? Selected Elective

Specific goals for the course

  1. Specific outcomes of instruction:
  • An ability to design, implement, and evaluate a computing-based solution to meet a given set of computing requirements in the context of the program’s discipline (2)

Brief list of topics to be covered

  • Basic path planning
  • Kinematics
  • Configuration space
  • Collision detection
  • Randomized planning
  • Nonholonomic systems
  • Cell decomposition
  • Optimal decisions and motion strategies
  • Coordination of Multiple Bodies
  • Representing and overcoming uncertainties
  • Visibility-based motion strategies