Motion Strategy Algorithms and Applications

Course
Course Catalog URL: 
https://catalog.iastate.edu/azcourses/com_s/
Identifier: 
COM S 4760
Professor(s): 
Dr. Wongpiromsarn

Last Updated: Fall 2024

  1. Credits and contact hours: 3 credits, 3 contact hours
  2. Instructor’s or course coordinator’s name: Tichakorn Wongpiromsarn (Nok)
  3. Text book, title, author, and year: Planning Algorithms, Steve LaValle, 2006. The textbook is freely available at http://planning.cs.uiuc.edu/
  4. Other supplemental materials:
    • Robot Motion Planning, J-C Latombe, 1994.
    • Principles of Robot Motion, Theory, Algorithms, and Syllabus, H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki and S. 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 autonomous systems. Discrete planning, kinematics, configuration space, collision detection, sampling-based motion planning, nonholonomic systems, and differential constraints. Implementation of software that computes motion plans in Python. Written reports. 
  2. Prerequisites or co-requisites: COM S 3110, ENGL 2500
  3. Required, elective, or selected elective? Selected Elective

Specific goals for the course

By the end of this course, students who have successfully completed it should have:

  • established an essential foundation in the field of motion planning
  • become familiar with the well-known planning algorithms
  • conducted a literature survey and study of a selected topic
  • had extensive hands-on programming experience in using existing planning algorithms to solve planning problems