Instructor:
Zhi Jane Li
Office: 85 Prescott 223C
Email: zli11 [at] wpi.edu
Time & Location: Wed & Friday, 12:00-1:20pm at OH126
Office Hour: Wednesday, 2:00-3:00 pm at Instructor’s office
Overview:
This course covers motion planning algorithms and their applications on manipulators, mobile robots and humanoid robots. The course topics include search algorithms, combinatorial and sampled-based motion planning algorithms, collision detection and avoidance, and planning with non-holonomic constraints. It also addresses the motion planning problems that involve human-robot interactions. Students will work on individual assignments that involve the implementation of motion planning algorithms, and work in teams on paper reading and course projects.
Prerequisites:
Undergraduate Linear Algebra, kinematics and dynamics in robotics, experience with 3D geometry, and programming experience in python and C/C++ in ROS framework.
Reference book:
- Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., & Thrun, S. Principles of robot motion: theory,algorithms, and implementations. MIT press. (2005).
- Steven M. LaValle, Planning algorithms, Cambridge University Press, 2006
- John J. Craig , Introduction to Robotics: Mechanics and Control (3rd Edition) (Links to an external site.), Pearson, 2004
Course Schedule, Syllabus & Reading List:
Resources:
- Technical
- Samuel R. Buss (UCSD), “Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods“, 2009
- Zico Kolter, “Linear Algebra Review and Reference“, 2015, updated by Chuong Do
- Research
- A guideline for project evaluation by Jane Li
- How to read a paper by Dmitry Berenson
- How to Write a Conference Paper by Dmitry Berenson
- Research Paper Review Guidelines by Dmitry Berenson
- Presentation Guidelines by Dmitry Berenson
- Presentation Grading Sheet by Dmitry Berenson
- Project Proposal Guidelines by Dmitry Berenson
- Project Progress Report Guidelines by Dmitry Berenson
Course Offered:
- Spring 2021, Spring 2020, Spring 2019, Spring 2018, Spring 2017