Lecture 8
24-354 General Robotics
Fall-05. Prof. Howie Choset
- Today's Outline:
- Review homework
- Path planning review:
- Wavefront
- Configuration space
- Roadmaps:
- Visibility graph
- Voronoi Diagram
- Logistics
- Configuration space
- Configuration space for a 2 link manipulator. (Ken Goldberg's Simulator)
- Configuration space obstacle: the set of all points where the robot overlaps an obstacle.
- reference point:
- reference configuration:
- Roadmap
- The Visibility Graph

- Review of Distance
- generalized Voronoi diagram (circle[L1], diamond[L2])
- How do you use the Voronoi diagram for planning?
- Is constructing the Voronoi diagram learning?