Computational approaches to robot motion planning, configuration space, algebraic decompositions, artificial potential fields, retraction, approximate
decompositions, planning under uncertainty, grasp planning and task-level planning.
 
• Introduction
• Motion Planning: configuration space (C-space): C-space of a single, rigid object, obstacles in C-space; artificial potential fields; roadmap representations of C-space; cell decomposition of C-space: approximate methods, exact methods; kinematic constraints on motions; uncertainty
• Grasp planning: mechanics of pushing and sliding; form closure and stability, issues in dexterous manipulation
• Task level planning: assembly sequence planning; symmetry groups and assembly planning; hierarchical task planning
 

Jean-Claude Latombe, Robot Motion Planning, Kluwer, 1990.

Prerequisites:

CS 373 (or equivalent) and graduate standing.

Course Credit:

1 unit.

Further Information: