CSCI-6290

Robot Motion Planning

This course is an introduction to algorithmic techniques for robot motion planning. Topics include configuration space representations, roadmap methods, cell decomposition and potential field techniques, randomized path planning, collision detection, multiple robot coordination, nonholonomic motion planning, and manipulation planning. These techniques will be motivated by applications to robot manipulators and mobile robots, assembly planning, computer-aided design, computer graphics, and molecular modeling. Prerequisites: CSCI-2300 and MATH-2010. Fall term, odd-numbered years.

3 credit hours