(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).
- What is motion planning?
- Basic problem and variants
- 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
- 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