Motion Planning
This course is jointly developed and held by Dr. Andreas Orthey (Realtime Robotics) and Dr. Wolfgang Hönig (TU Berlin). It provides a unified perspective on motion planning and includes topics from different research and industry communities. The goal is not only to learn the foundations and theory of currently used approaches, but also to be able to pick and compare the different methods for specific motion planning needs. An important emphasis is the consideration of both geometric and kinodynamic motion planning for the major algorithm types.
| Week | Topic | Lecture | Exercise | Assignment |
|---|---|---|---|---|
| Part 1: Foundations | ||||
| 1 | Organization, Introduction, Problem Formulation | PDF Video | ||
| 2 | Transformations, Angular representations, Metrics, Efficient collision checking | PDF Video | Assignment 1 Out | |
| Part 2: Search-Based | ||||
| 3 | Graph-based Planning: Representations, A*, Admissible heuristics | PDF Video | ||
| 4 | Advanced Search-Based Motion Planning | PDF Video | ||
| Part 3: Sampling-Based | ||||
| 5 | Sampling-Based Geometric Motion Planning: PRMs | PDF Video | Assignment 1 Due, Assignment 2 Out | |
| 6 | Tree-based and Asymptotically-Optimal Planning | PDF Video | ||
| 7 | Kinodynamic Planning: kinodynamic RRT, SST*, AO-x Geometric Planning: RRT-Connect, EST, PRM* | PDF Video | ||
| 8 | Introduction to the Open Motion Planning Library (OMPL) | PDF Video | Assignment 2 Due, Assignment 3 Out | |
| 9 | Sampling-Based Motion Planning: More Theory and Planners (EST, RRT-Connect, PRM*, LazyPRM, FMT*); Intro to Optimization | PDF Video | ||
| Part 4: Optimization-Based | ||||
| 10 | Optimization-Based Motion Planning | PDF Video | ||
| 11 | Differential Flatness and SCP | PDF Video | Assignment 3 Due, Assignment 4 Out | |
| Part 5: Current and Advanced Topics | ||||
| 12 | Optimization Wrap-Up and Method Comparison | PDF Video | ||
| 13 | Multi-robot motion planning | PDF Video | ||
| 14 | Assignment 4 due | |||