RI16-735
Robotic Motion Planning
NSH 3002, MW9:00-10:30, Fall, 2006

 
Main
 
Personnel: Instructor: Howie Choset, NSH 3211
choset [theat] cs [thedot] cmu [thedot] edu
412-CMU-2495

TA: G. Ayorkor Mills-Tettey, NSH 2211
ayorkor [theat] cmu [thedot] edu
412-CMU-3978

Secretary: Peggy Martin NSH 3218
pm1e [theat] andrew [thedot] cmu [thedot] edu
412-CMU-7943
Descriptive Blurb: The robot motion field and its applications have become incredibly broad and theoretically deep at the same time. The goal of the course is to provide an up-to-date foundation in the motion planning field, make the fundamentals of motion planning accessible to the novice and relate low-level implementation to high-level algorithmic concepts. We cover basic path planning algorithms using potential functions, roadmaps and cellular decompositions. We also look at the recent advances in sensor-based implementation and probabalistic techniques, including sample-based roadmaps, rapidly exploring random trees, Kalman filtering, and Bayesian estimation. If time permits, we will study non-linear controls and how it applies to non-holonomic constraints. Click here for more information.
Who should take this class: Advanced undergraduates and graduate students who are new to motion planning.
Text:
H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun,
Principles of Robot Motion: Theory, Algorithms, and Implementations,
MIT Press, Boston, 2005.
Related Robotics Texts:
  • Robot Motion Planning,  Jean-Claude Latombe,  Kluwer Academic Publishers, 1991.
  • Planning Algorithms, Steven M. LaValle.
  • Where am I?--Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , and L. Feng
  • Introduction to AI Robotics by Robin Murphy
  • Sensors for Mobile Robots by H. Bart R. Everett
  • Computational Principles of Mobile Robotics by Gregory Dudek and Michael Jenkin
Papers: Here is a far-from updated list of papers for your reference
Homework: You are required to create a web page on which you will display your homework assignments. This page should contain a link to each homework's solution. The page for an individual assignment should include a demo of the working program (e.g., gif files, animations), links to source code for your programs (including any necessary makefiles, and a brief explanation of your approach.
Class Project: Propose and implement a robot motion planning project.  Project proposals will be due at mid-semester (deadlines will be announced soon). As with your homework,  you will create a web page for your project, and it is this web page that will be graded.
Software:
(No Guarantees) 		Please feel free to use software resources that are available in the public domain such as
Other Motion Planning Classes:

URL : http://voronoi.sbp.ri.cmu.edu/~motion/
Last modified August 4, 2006