Robot Motion Planning

CS 780



A unified view on geometric, algorithmic, and computational issues of automatic motion planning of motion for mobile robots and arm manipulators in a complex environment. Planning with complete information - configuration space, connectivity graphs, computational complexity; with partial information - algorithm convergence, topological issues. Effect of system kinematics. Relation between sensing media and algorithm efficiency. (Infrequently offered.) Prereq: Math 340 or equivalent and consent of instructor.

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