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.
- 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:
- 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
- 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