Motion Planning for Autonomous Systems

3 Credits

Autonomous systems (e.g., aircraft, vehicles, manipulators, and robots) must plan long-term movement that respects environmental constraints such as obstacles, other actors, and wind; system constraints such as kinematics, dynamics, and fuel; and other factors such as time and safety. Robust autonomy requires dealing with environmental changes, new information, and uncertainty. This course provides an overview of methods that solve a variety of motion planning problems. The course will cover both the theoretical and practical aspects of state-of-the-art motion planning algorithms. Course projects that use real autonomous systems will be facilitated and encouraged.