- Time and Place: MW 11:00-12:15pm, Room: 115
- Prerequisites: Undergraduate Algorithms Course, Some Background in Geometry OR Instructor's approval
- Textbook: Course Notes and In-Class Handouts
- Reference Book LaValle's Book on Planning Algorithms
- Prerequisites: Undergraduate Algorithms Course, Some Background in Geometry OR Instructor's approval
COURSE OVERVIEW:
Motion is ubiquitous in both the real world and synthetic
environments. Representations of motion are central to
all computational disciplines that deal with modeling
dynamical or kinematic systems in the biological, physical
or virtual world. For example, interaction with objects
in the virtual environment, design and assembly of electronic
appliances, animation of articulated figures, manipulation
of nano-structures, modeling of tissues and muscles, etc.
Recently, motion planning techniques are also used in
computer games and virtual worlds like Second Life to
control the motion of the avatar. With the recent advent of consumer
robots like the Roomba and development of autonomous ground
vehicles (e.g. DARPA Grand Challenge), there is more interest
in development in motion and path planning algorithms.
In this seminar course, we will study recent advances in
motion planning including but not limited to:
The course will consist of lectures by the instructors on
the fundamental concepts in the areas, student lectures on
selected topics of interests, and special guest lectures
on recent research or work in progress.
The goal of this class is to get students an appreciation of
computational methods for motion planning and synthesis.
We will discuss various considerations and tradeoffs
used in designing various methodologies (e.g. time, space, robustness,
and generality). This will include data structures, algorithms,
computational methods, their complexity and implementation.
Depending on the interests of the students, we may cover topics
of interests in related areas.
We also plan to use
Second Life as a driving application to implement
motion planning algorithms.
LECTURE TOPICS
Here is a list of lecture topics (subject to change). Schedule and information on each topic (e.g. readings, web pointers) will be added during the semester before each class.
ASSIGNMENTS AND PROJECTS
The class grade of each student is determined by
STUDENT COURSE PROJECTS
STUDENT PROJECTS (FALL 2007)
PAST STUDENT PROJECTS (FALL 2005)
GUEST LECTURES
COURSE READING MATERIALS
Reference Papers Used in Lectures:
AIBO Capabilities
DARPA Grand Challenge
Motion Planning Research at UNC
The GAMMA group at UNC has implemented several distinct motion planning systems:
INTERESTING LINKS
GEOMETRIC ALGORITHMS AND SOFTWARES AVAILABLE ON THE WEB:
Here are just some possible locations to find geometric software/libraries
and algorithmic toolkits you may need:
ADDITIONAL REFERENCE MATERIALS
Reference Books in Robotics:
Reference Books in Computer Animation:
Reference Books in Geometry:
Reference Books in Mechanics:
Reference Books in Numerical Methods:
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For more information, contact
Dinesh Manocha,
dm@cs.unc.edu,