Lecture 8
24-354 General Robotics
Fall-05. Prof. Howie Choset

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• Today's Outline:
  1. Review homework
  2. Path planning review:
     • Wavefront
     • Configuration space
  3. Roadmaps:
     • Visibility graph
     • Voronoi Diagram
  4. 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?