Seminar: Dr. David Kirkpatrick, University of British Columbia, "Bounded curvature path planning redux", November 5th, 2:30pm, CL 408 (Expired)

Department of Computer Science




SPEAKER:     Dr. David Kirkpatrick, University of British Columbia


DATE:             Friday, November 5, 2010


TIME:             2:30 pm      


PLACE:          CL 408


TITLE:            Bounded curvature path planning redux




Understanding the feasibility and optimality of the motion of car-like robots in the presence of obstacles entails, among many things, an understanding of curvature-constrained paths between specified configurations in the plane, that avoid specified obstacles. The study of curvature-constrained path planning has a rich history that predates and goes well beyond robot motion planning. I will discuss a number of issues and results concerning curvature-constrained path planning, including structural characterizations, hardness results, approximation algorithms, discretizations, and novel applications. Some of the results are old (to set the context), some are more recent (to demonstrate that progress is still being made) and some are for the future (as conjectures or open questions).



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