RBE 550 – Motion Planning


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


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.


Undergraduate Linear Algebra, kinematics and dynamics in robotics, experience with 3D geometry, and programming experience in python and C/C++ in ROS framework.

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