Class 1 (April 3) :
[The left and middle images illustrate the application of motion
planning to design for manufacturing (disassembly test). The image on
the right illustrates the application to the verification of building
codes (access for handicapped persons).]
- What is motion planning?
- Basic problem and variants
- Required Reading:
- J.C. Latombe. Motion Planning: A Journey of Robots,
Molecules, Digital Actors, and Other Artifacts.
International Journal of Robotics Research,
Special Issue on Robotics at the Millennium -- Part I,
18(11):1119-1128, November 1999
- Other Reading:
- D. Halperin, L.E. Kavraki, and J.C. Latombe.
CRC Handbook of Algorithms and Theory of Computation,
M. Atallah (ed.), CRC Press, Boca Raton, FL, Chapter 21, 1998
- Powerpoint slides