Robot Motion Planning

Tutorial Slides by Andrew Moore

We review some algorithms for clever path planning once we arrive in real-valued continuous space instead of the safe and warm discrete space we've been sheltering in so far. We look at configuration spaces, visibility graphs, cell-decomposition, voronoi-based planning and potential field methods. Unfortunately some of the figures are missing from the PDF version.

Download Tutorial Slides (PDF format)

Powerpoint Format: The Powerpoint originals of these slides are freely available to anyone who wishes to use them for their own work, or who wishes to teach using them in an academic institution. Please email Andrew Moore at if you would like him to send them to you. The only restriction is that they are not freely available for use as teaching materials in classes or tutorials outside degree-granting academic institutions.

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