2020-2022 Undergraduate and Graduate Bulletin (with addenda) 
    Jan 26, 2023  
2020-2022 Undergraduate and Graduate Bulletin (with addenda) [ARCHIVED CATALOG]

ROB-UY 3303 Robot Motion and Planning

3 Credits
This course covers the concepts, techniques, algorithms, and state-of-the-art approaches for robot localization, mapping, and planning. The course starts from basic concepts in 2D kinematics and probability and then introduces probabilistic approaches for data fusion. Then, the course introduces the trajectory planning problem in the time domain and free space. The motion planning problem is defined in a canonical version of the problem and the concept of configuration space is introduced. A selection of representative planning techniques is covered from probabilistic to heuristic techniques. Finally, some mapping representations and algorithms are presented.

Prerequisite(s): (CS-UY 1114  or CS-UY 1113 ) and MA-UY 2034  and PH-UY 1013  or equivalents (see Minor in Robotics)
Weekly Lecture Hours: 3