Class 2 (April 7): CONFIGURATION SPACE
AND BASIC MOTION PLANNING TECHNIQUES

• Topics:
  - Notion of a robot configuration
  - Representations
  - Structure of configuration space
  - Notion of a path, trajectory
  - Obstacle mapping
  - Basic path-planning methods: roadmaps, cell decomposition, potential fields
• Required Reading:
• Early paper on configuration space:
  T. Lozano-Perez. Spatial Planning: A Configuration Space Approach. IEEE Transactions on Computers, C-32(2):108-120.
• Early paper on potential fields:
  O. Khatib. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots. The Int. J. of Robotics Research, 5(1):90-98, 1986. [pdf]
  
  
• Other Reading:
• Textbook:
  J.C. Latombe. Robot Motion Planning. Kluwer Academic Pub., Boston (MA), 1991. Chapters 2 and 3.
  
  
• Powerpoint slides