Robot Motion Planning

Enrollment Requirements: Undergraduate Prerequisites: (CASMA 226 or CASMA 231) and (ENGEK 103 or CASMA 242) and (ENGEK 125 or CASCS 111); Graduate Prerequisites: Graduate Standing Provides an overview of state-of-the-art techniques for robot motion planning. The emphasis is on the algorithms. It covers topology of configuration spaces, potential functions, roadmaps, cell decompositions, sampling-based algorithms, and model checking approaches to robot motion planning and control.