CS786 - Robot Motion Planning and Control
Schedule
- Lectures are Thu 9:40-12:30 G102 (1st floor of METU-CC).
-
The course notes provide additional reading material.
They complement, but do not replace the lecture.
- The schedule is subject to change throughout the semester.
Lecture Slides
Lecture slides used in class throughout the semester are provided below.
Presentation Schedule
Your course responsibilities include the presentation of a research
paper related to your projects. Your presentation is scheduled for one
of the class hours towards the end of the term and should be around 15
minutes with about 5 minutes left for questions.
Preliminary course outline
The following is a rough outline that is anticipated for this
semester's course. There may, however, be changes in the details as the semester progresses.
| Week |
Topics |
| 1 |
Introduction and general concepts. Bug algorithms. |
| 2 |
Configuration space. Geometric models of state and motion. |
| 3 |
Introduction to Potential Fields. |
| 4 |
Reactive approaches to planning, navigation functions |
| 5 |
Cell decompositions, coverage algorithms. |
| 6 |
Sensor-based planning. |
| 7 |
Roadmaps, visibility graphs, Voronoi diagrams. |
| 8 |
Probability theory review. Probabilistic roadmaps. |
| 9 |
PRM, EST and RRT algorithms. |
| 10 |
PRM, EST and RRT algorithms. |
| 11 |
Trajectory planning. Reactivity and plan execution |
| 12 |
Paper presentations |
| 13 |
Overview of other contemporary planning formalisms |
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saranli@ceng,
Uluç Saranlı
The overall design of this web page was inspired by similar pages by
Frank Pfenning.
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