Up:Teaching
Computer Science 490CD
Robot Motion Planning
Course Outline
Fall 2006
Instructor: |
Dr
M. Mouhoub |
Office: CW308.13
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Method of Evaluation: |
Project(report+code+presentation) |
70% |
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Final Exam |
30% |
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Required prerequisite: CS340, CS310 and CS420
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 340)
and
search techniques (CS 420) will be assumed. Background in Discrete Math
( CS 310) is required.
Up:Teaching
Malek Mouhoub 2005-10-12