Robotic Motion Planning
NSH 3002, MW10:30-11:50, Fall, 2010


Personnel: Instructor: Howie Choset, NSH 3211
choset [theat] cs [thedot] cmu [thedot] edu

TA: Glenn Wagner, NSH A403 (temporary)
gswagner [theat] cmu [thedot] edu

Mailing List:

Secretary: Peggy Martin NSH 3218
pm1e [theat] andrew [thedot] cmu [thedot] edu

Class group email (Email TA to be added/removed)
16735-f10 [theat] googlegroups [thedot] edu

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.

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.
  • Probabilistic Robotics, S. Thrun, W. Burgard, and D. Fox, MIT press, Cambridge, MA, 2005
  • 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
  • Feedback Systems: An Introduction for Scientists and Engineersby Karl J. Astrom and Richard M. Murray

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. It can be something related to your research and it must have a motion planning component to it (respect obstacles).   Project proposals will be due at mid-semester (deadlines will be announced soon, and here is a PPT template). As with your homework,  you will create a web page for your project, and it is this web page that will be graded. This page is due 12/12 (two days after the demo) at midnight.

You may find this collection of laser scan data helpful.

Reading Assignment: Based on your interests, we will form groups of one or two to present a paper that go into depth a topic which was covered in the previous week.

  • 70% Homework
  • 10% Reading presentation
  • 20% Final project

(No Guarantees)
Please feel free to use software resources that are available in the public domain such as

URL : http://www.cs.cmu.edu/~motionplanning/
Last modified October 8, 2007