Robot motion planning

This page contains the lecture notes and assignments for CS 89/189, robot motion planning, taught by Professor Devin Balkcom. The syllabus for the course, assignment turn-in, and schedule are all available from the Canvas page for the course.

Lecture notes

1. Notation and kinematics
2. Configuration space
3. Trajectories, velocities, and differential kinematics
4. Discretization of continuous spaces
5. Mobile robot motion
6. Constraints and frames
7. Displacements
8. Dynamics

Assignments

1. Kinematics and the mobipulator
2. Differential kinematics
3. Sampling-based planning
4. Reading assignment A
5. Project exploration A
6. Project exploration B
7. Collisions
8. Project interim report