Class #1: Overview
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These images illustrate the application of motion planning to (from top to bottom, left to right): programming of industrial robots, design for manufacturing (disassembly test), radiosurgery, autonomous climbing robot, humanoid robot, animation of digital actors, modular reconfigurable robots, and verification of building codes (access for handicapped persons).

  • Topics:
    - What is motion planning?
    - Basic problem and variants
    - Applications
  • Required Readings:
    • 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 Readings:
    • 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. [pdf]

  • Powerpoint slides