Robot motion planning: Combinatorial issues via control theory
(2nd module of Elective in Robotics for 2010/2011)
Instructor: Dr. Jean-Paul Laumond, LAAS-CNRS, Toulouse, France
Information
scheduleMarch 14 - April 18, 2011
Mon 12:00-13:30, room A7: Fri 10:15-11:45, room A5
instructor office A203, DIS, Via Ariosto 25
instructor e-mailjpl [at] laas.fr
Lectures (with material)
  1. Robotics and Motion Planning : A General Introduction (slides without videos, zip file with slides and videos)
  2. The Piano Mover Problem (slides)
  3. Cell Decomposition: The Case Two Moving Disks in the Plane (based on the following paper, available in the DIS library: Schwartz and Sharir, On the Piano Movers' Problem: III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers, The International Journal of Robotics Research, vol. 2, no. 3, pp. 46-75, 1983)
  4. The Manipulation Planning Problem (slides without videos, zip file with slides and videos)
  5. On the Complexity of the Car Parking Problem (based on these tutorial notes, also valid for lectures 6 and 7)
  6. Lie Algebra Combinatorics: The Case of the Trailer-Truck
  7. Steering Nonholonomic Systems 
  8. Probabilistic Motion Planning (slides)
  9. Anthropomorphic Motion Planning (slides without videos, zip file with slides and videos)
EiR Homepage