Class 9 (Monday, February 7) : KINODYNAMIC PLANNING
- Topics:
- Equation of motion and dynamic constraints
- State space
- Two-phase planning
- Sampling-based planning
- Required Readings:
- Two-phase planner:
J. Bobrow. Optimal Robot Path Planning Using the Minimum-Time
Criterion. IEEE Journal of Robotics and Automation
4(4):443-449, 1988.
- Sampling-based planner:
R. Kindel, D. Hsu, J.C. Latombe, S. Rock.
Kinodynamic Motion Planning Amidst Moving Obstacles.
Proceedings of IEEE Int. Conf. on Robotics and Automation,
San Francisco, April 2000
(ps file).
- Other Readings:
- A basic paper:
B. Donald, P. Xavier, J. Canny, and J. Reif.
Kinodynamic Motion Planning
Journal of the ACM, 40(5):1048-1066, 1993.
- Two-phase planning and robot placement:
D. Hsu, J.C. Latombe, and S. Sorkin.
Placing a Robot Manipulator Amid Obstacles for Optimized Execution.
Proceedings of IEEE International Symposium on Assembly and Task
Planning, Porto, Portugal, pages 280-285, 1999
(ps file).
- Powerpoint slides -- Intro
- Powerpoint slides --
Two-phase planner paper
- Powerpoint slides --
Sampling-based planner paper