Computer Science 4990 $\bullet$ Robot Motion Planning

Course Outline $\bullet$ Fall 2002

Instructor:	Dr M. Mouhoub		Office: D520
Method of Evaluation:	Project(report+code+presentation)	70%
	Final Exam	30%

Required prerequisites: CS3750 , CS3620 and Math 2865.

Reading Material

• Robot Motion Planning,  J.C. Latombe, Kluwer Academic Publishers, 1991.
• Gross Motion Planning - A Survey,  Y. K. Hwang, N. Ahuja, ACM Computing Surveys 24, no. 3, Sep. 1992, 219-291.

Topics

•  Part 1 : basic motion planning topics including
• configuration space
• cell decomposition methods
•  roadmap methods
•  potential field methods
• Part 2 : advanced topics and various application domains
• manipulation planning
• multiple robots, moving objects
• nonholonomic constraints
• planning with uncertainty

applications (e.g., gaming, assembly sequencing, mechanical CAD, virtual reality, medicine).

Notes

• Familiarity with data structures, analysis of algorithms (CS 3620) and search techniques (CS 3750) will be assumed. Background in Discrete Math ( MATH 2865) is  required.