Day 26: Motion Planning-1

[MithunNallana]

Hello all,

Class material:

• Slides-1 motivate the problem.
• Slides-2 discuss different motion planning techniques. We covered until l2_05
• Slides-3 discuss about informed search A* and it's optimality.

Text books:

• Robot motion planning by Jean-Claude Latombe. ¹
• Planning Algorithms by Steven M. LaValle,
• Principles of robot motion by Howie Choset

Other courses:

• Upenn Motion Planning intro by CJ Taylor. Provides good introduction to motion planning techniques. ¹
• CMU UG Motion Planning course by Maxim Likhachev. Provides good introduction to search based planning.
• CMU Graduate course by Maxim Likhachev. A graduate course.
• UMich Graduate Motion Planning course by Dmitry Berenson. This has references to some seminal and recent papers in search, manipulation and grasping algorithms.

We can discuss specific questions on this thread.

¹ Good to begin with.

[MithunNallana]

Regarding Trapezoidal decomposition, It is preferable to have connection between edge mid-points rather than trapezoidal cell centroids. Refer Fig-6, and Fig-7