CS326A - Motion Planning - Schedule
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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