Motion Planning for Robotics and Autonomous Systems

Course

Course Catalog URL:

Identifier:

COM S 5760

Professor(s):

Last Updated: Fall 2024

Credits and contact hours: 3 credits, 3 contact hours
Instructor’s or course coordinator’s name: Tichakorn Wongpiromsarn (Nok)
Text book, title, author, and year: Planning Algorithms, Steve LaValle, 2006. The textbook is freely available at http://planning.cs.uiuc.edu/
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

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.
Prerequisites or co-requisites: COM S 3110 and ENGL 2500 or permission of instructor; for graduate credit: graduate standing or permission of instructor
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
(for graduate students) experienced designing new or improving existing planning algorithms

Brief list of topics to be covered

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