Class #2: Path Planning for Point Robot
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These drawings illustrate the visibility graph, Voronoi diagram, exact cell decomposition and potential field methods

• Topics:
  - Roadmap methods: visibility graph, Voronoi diagram
  - Exact and approximate cell decomposition methods
  - Potential fields
• Required Readings:
• J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991. (Chap. 1) [Hardcopy will be given in class]
  
  
• Other Readings:
• J.C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991. (Chap. 4-7) [Hardcopy available on demand]
  
  
• Powerpoint slides