CS326A: Motion Planning

2003 Spring Quarter

Office Hours: I will have my office hours on Mondays and Wednesdays at 1:30-2:30pm in Gates 154. Students can also send me emails at latombe@cs.stanford.edu. If needed, I will see students outside the regular office hours.

List of students
Information about programming project

Final Project Slides:
Motion Planning for Tower Crane Operation, by Shan Pan and Jessy Kang.Motion
Planning for Retrieval Agents (slides-1, slides-2), by Andreas Edlund and Chris Enedah
Pursuit and Evasion, by Eric Ng and Huy Nguyen
Search and Escape in “The Snorks World”, by Guillaume Poncin and Gregory Kron
Discovering Environmental Structure with Mobile Robots, by Rahul Biswas
Grasping for Climbing Robots, by Teresa Miller and Randy Schuh
Motion of Crowds -- Swarms of Rational Agents with Conflicting Goals, by Benson Limketkai and Romain Thibaux
Trajectory Planning for Underactuated Vehicles in 3-D Space, by Dongkyu Choi and Jinwhan Kim

Schedule and Syllabus:

Day	#	Topic	Students
April 2	1	Course overview	None
April 7	2	Configuration space and basic motion planning techniques	None
April 9	3	Collision detection 1/2 -- Hierarchical methods	1. Teresa Miller 2. Andrew Ng
Aril 14	4	Collision detection 2/2 – Feature-tracking methods	1. Benson Limketai 2. Jinwhan Kim
April 16	5	Probabilistic roadmaps 1/3 -- Basic techniques	1. Dongkyu Choi 2. Shan Pan
April 21	6	Probabilistic roadmaps 2/3 -- Sampling strategies	1. Rahul Biswas 2. Eric Ng
April 23	7	Probabilistic roadmaps 3/3 – Sampling strategies	1. Rahul Biswas 2. Randy Schuh
April 28	8	Coordination of multiple robots	1. Huy Nguyen 2. Chris Enedah
April 30	9	Motion of crowds and flocks	1. Andreas Edlund 2. Benson Limketai/Romain Thibaux
May 5	10	Navigation through virtual environments	1. Jessy Kang 2. Shan Pan
May 7	11	Kinodynamic planning and under-actuated systems 1/2	1. Chris Enedah 2. Guillaume Poncin
May 12	12	Kinodynamic planning and under-actuated systems 2/2	1. Ben Wong 2. Jinwhan Kim/Gregory Kron
May 14	13	Humanoids, legged robots, and digital actors 1/2	1. Randy Schuh/Kevin Hufford 2. Teresa Miller
May 19	14	Humanoids, legged robots, and digital actors 2/2	1. Guillaume Poncin 2. Huy Nguyen/Kevin Hufford
May 21	15	Assembly planning	1. Andreas Edlund/Romain Thibaux 2. Jessy Kang
May 26	-	Memorial Day -- NO CLASS	None
May 28	16	Exploring and inspecting environments	1. Dongkyu Choi 2. Ben Wong/Gregory Kron
June 2	17	Radiosurgical planning / Conclusions	None

Course Organization, Assignments, and Grading

Slide Preparation

Homework Assignments:

The first homework -- HW#1 – will be posted here on April 16. It will be due on April 28.
The second homework -- HW#2 – will be posted here on May 12. It will be due on May 19.

You are given a total of 4 free late days, which you can use as you want. In addition, the students giving a presentation on the day when a homework assignment is due will get 2 additional free late days for this homework. No additional late days will be accepted.

Previous 326A Course Notes: 1999 2000 2002