Schedule and Syllabus:

This schedule will be updated as needed during the quarter. Links to class notes will also be added during the quarter.

Day	#	Topics	Speakers
Sept 24	1	Overview	JCL
Sept 26	2	Path planning for a point robot	JCL
Oct 1	3	Configuration space of a robot	JCL
Oct 3	4	Collision detection and distance computation: Feature-tracking and grid methods	1. Denise Jones 2. Jinsung Kwon
Oct 8	5	Collision detection and distance computation: Hierarchical methods	1. Sean Augenstein 2. Qi-xing Huang 3. Nicholas Lee 4. Samir Menon
Oct 10 (hw)	6	Sampling-based motion planning: Probabilistic roadmaps (basic techniques, why does it work)	1. Derek Chan 2. Stephen Russell 3. JCL
Oct 15	7	Sampling strategies for probabilistic roadmaps	1. Michael Graeb 2. Qi-xing Huang 3. Nicholas Lee 4. Stephen Russell
Oct 17	8	Sampling strategies for probabilistic roadmaps	1. Michael Graeb 2. Debbie Meduna 3. Samir Menon 4. Michael Vitus
Oct 22	9	Criticality-based motion planning: Target finding and part orientation	1. JCL 2. Haomiao Huang 3. Alan Schoen
Oct 24	10	Project presentations (topics and goals)	All students
Oct 29	11	Criticality-based motion planning: Assembly sequence planning and Stereotaxic radiosurgery	1. Denise Jones 2. Vijay Pradeep 3. Syed Salik
Oct 31	12	Motion planning with nonholonomic constraints	JCL
Nov 5	13	Kinodynamic planning and Navigation among movable obstacles	1. Haomiao Huang 2. Debbie Meduna 3. Vijay Pradeep 4. Michael Vitus
Nov 7 (hw)	14	Motion planning for Legged robots	1. Jinsung Kwon 2. Patrick Mihelich 3. Salik Syed
Nov 12	15	Primitive-biased sampling + Manipulation planning	1. Derek Chan 2. Alan Schoen 3. David Staevens
Nov 14	16	Target tracking and virtual camera	1. Sean Augenstein 2. Patrick Mihelich 3. David Staevens
Nov 26	17	Motion of bio-molecules (ppt)	JCL
Nov 28	18	Surgical planning (ppt)	JCL
Dec 3	19	Project presentations (final results)	Students
Dec 5	20	Project presentations (final results)	Students