Class 1 (April 2): COURSE OVERVIEW

These images illustrate the application of motion planning to (from left to right): design for manufacturing (diassembly test), autonomous humanoid robot, and verification of building codes (access for handicapped persons).

• Topics:
  - What is motion planning?
  - Basic problem and variants
  - Applications
• 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 [ps].
  
  
• Other Reading:
• D. Halperin, L.E. Kavraki, and J.C. Latombe. Robotics. CRC Handbook of Discrete and Computational Geometry, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Boca Raton, FL, Chapter 41, pp. 755-778, 1997 (second version, to appear, 2003) [pdf]
  
  
• Powerpoint slides