Motion planning is the study of algorithms that reason about the movement of physical or virtual entities. These algorithms can be used to generate sequences of motions for many kinds of robots, robot teams, animated characters, and even molecules. This course will cover the major topics of motion planning including (but not limited to) planning for manipulation with robot arms, mobile robot path planning with kinodynamic constraints, multi-robot path planning, high-dimensional sampling-based planning, learning and planning, and task and motion planning.
Students will implement motion planning algorithms in open-source frameworks such as OMPL and complete projects that draw on the course material.
Recommended Background: Undergraduate Linear Algebra, knowledge of algorithmic principles, kinematics, and significant programming experience.