Required readings:

1. Motion planning: A journey of robots, molecules, digital Actors, and other artifacts. J.C. Latombe. Int. J. Robotics Research, 18(11):1119-1128, 1999.
    

Required readings:

1. Robot Motion Planning (Chapter 1). J.C. Latombe. Kluwer Academic Publishers, 1991.

Supplementary readings:

2. Principles of Robot Motion (Chapter 4, 5, 6). H. Choset et al., The MIT Press, 2005.

Supplementary readings:

1. Robot Motion Planning (Sections 2.1-2.3.1, 2.4, 2.5, 2.7-2.9). J.C. Latombe, Kluwer Academic Publishers, 1991.
2. Principles of Robot Motion (Section 3.1-3.3, 3.5-3.7). H. Choset et al., The MIT Press, 2005.

out:

• Homework 1

Required readings:

1. OBB-Tree: A hierarchical structure for rapid interference detection. S. Gottschalk, M. Lin, and D. Manocha. In SIGGRAPH 96 Conference Proceedings, pp. 171-180, 1996.
2. V-Clip: Fast and robust polyhedral collision detection. B. Mirtich. ACM Transactions on Graphics, 17(3):177-208, 1998.

Supplementary readings:

3. Efficient distance computation between non-convex objects. S. Quinlan. In Proc. IEEE Int. Conf. Robotics & Automation, pp. 3324-3329, 1994.
4. Computational Geometry: Algorithms & Applications (Section 7.1). M. de Berg et al., Springer, 2000.

 out:

• Presentation information

Required readings:

1. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. L.E. Kavraki, P. Svestka, J.C. Latombe, and M. Overmars. IEEE Trans. Robotics & Automation, 12(4):566-580, 1996.
2. Path planning in expansive configuration spaces. D. Hsu, J.-C. Latombe and R. Motwani.  Int. J. Computational Geometry & Applications, 9(4 & 5):495-512, 1999. (read Sections 1 and 2)

slides
probability review

out:

• Homework 2

Required readings:

1. Path planning in expansive configuration spaces. D. Hsu, J.-C. Latombe and R. Motwani.  Int. J. Computational Geometry & Applications, 9(4 & 5):495-512, 1999.
2. Path planning using lazy PRM. R. Bohlin and L.E. Kavraki. In Proc. IEEE Int. Conf. Robotics & Automation,  pp. 521–528, 2000.

Supplementary readings:

3. Randomized kinodynamic planning. S. M. LaValle and J. J. Kuffner. Int. J.  Robotics Research, 20(5):378-400, 2001.

out:

• Project information

Required readings:

1. The Gaussian sampling strategy for probabilistic roadmap planners. V. Boor, M.H. Overmars, and A.F. van der Stappen. Proc. IEEE Int. Conf. Robotics & Automation,  pp. 1018-1023, 1999.
2. Toward Optimal Configuration Space Sampling. B. Burns and O. Brock.  In Proc. Robotics: Science and Systems, 2005.

Supplementary readings:

4. On the Probabilistic Foundations of Probabilistic Roadmap Planning. D. Hsu, J.C. Latombe, and H. Kurniawati. 2005.
5. OBPRM: An obstacle-based PRM for 3D workspaces. Nancy M. Amato, O.B. Bayazit, L.K. Dale, C. Jones, D. Vallejo. In P. K. Agarwal, et al., editors, Robotics: the Algorithmic Perspective, pp. 155-168, A. K. Peters, 1998.
6. The bridge test for sampling narrow passages with probabilistic roadmap planners. D. Hsu, T. Jiang, J. Reif, and Z. Sun. Proc. IEEE Int. Conf. on Robotics & Automation, pages, 4420-4426, 2003.

Required reading:

1. Planning motions with intentions. Y. Koga, K. Kondo, J. Kuffner, and J.C. Latombe. In SIGGRAPH 94 Conference Proceedings, pp. 395-408, 1994.
2. Motion planning for camera movements in virtual environments. D. Nieuwenhuisen and M.H. Overmars. 2003.

Supplementary readings:

3. Robot Motion Planning (Sections 11.1-11.4). J.C. Latombe. Kluwer Academic Publishers, 1991.
4. An intelligent user interface with motion planning for 3-D navigation. T.-Y. Li and H.-K. Ting. In Proc. IEEE Virtual Reality, 2000.
5. Interactive navigation in complex environments using path planning. B. Salomon, M. Garber, M.C. Lin, D. Manocha. In Proc. ACM  Symp.  Interactive 3D Graphics, 2003

due: project proposal

Required readings:

1. A visibility-based pursuit-evasion problem. L.J. Guibas, J.C. Latombe, S.M. LaValle, D. Lin, and R. Motwani. Int. J. Computational Geometry & Applications, 9(5):471-194, 1999.
2. Real-Time combinatorial tracking of a target moving unpredictably among obstacles. H.H. Gonzalez-Banos, C.Y. Lee, and J.C. Latombe. Proc. IEEE Int. Conf. on Robotics & Automation, 2002.

Required readings:

1. Deadlock-free and collision-free coordination of two robot manipulators. P.A. O'Donnell and T. Lozano-Perez.  Proc. IEEE Int. Conf. Robotics & Automation, pp. 484-489, 1989.
2. Using a PRM planner to compare centralized and decoupled planning for multi-robot systems. G. Sánchez-Ante, J.C. Latombe.  Proc. IEEE Int. Conf. Robotics & Automation, 2002.

Supplementary readings:

4. Guest editorial: Advances in multirobot systems. T. Arai, E. Pagello, L.E. Parker. IEEE Trans. Robotics & Automation, 18(5):655-661, 2002.
5. Simulating virtual human crowds with a leader-follower model. T.Y. Li, Y.J. Jeng, and S. Chang. Proc. Computer Animation Conf., 2001.

Required readings:

1. Motion planning for car-like robots, a probabilistic learning approach, P. Svestka, M.H. Overmars. Int. J. Robotics Research, 16:119-143, 1997.

2. Randomized kinodynamic motion planning with moving obstacles. D. Hsu, R. Kindel, J.C. Latombe, and S. Rock. Int. J. Robotics Research, 21(3):233-255, 2002.

Supplementary readings:

3. Kinodynamic motion planning. B. Donald, P. Xavier, J. Canny, and J. Reif. J. ACM, 40(5):1048-1066, 1993.
4. Randomized kinodynamic planning. S. M. LaValle and J. J. Kuffner. Int. J.  Robotics Research, 20(5):378-400, 2001.

1. Motion planning for humanoid robots. J.J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue. Int. Symp. Robotics Research, 2003.
2. Toward autonomous free-climbing robots. T. Bretl, S.M. Rock, and J.C. Latombe,  Int. Symp. on Robotics Research, 2003.

3. Motion planning for knot untangling. A.M. Ladd and L.E. Kavraki. Proc. Int. Workshop on Algortihmic Foundations of Robotics, 2002.

Required readings:

1. A dimensionality reduction approach to modeling protein flexibility. Teodoro, M., Phillips, G. N. Jr., and Kavraki, L. E.. In Proc.  ACM Int. Conf. on Research in Computational Biology (RECOMB), pp. 299–308, 2002.
2. Elastic models of conformational transitions in macromolecules. M.K. Kim, G.S. Chirikjian, and R.L. Jernigan. J. Molecular Graphics & Modelling, 21:151-160, 2002.

Supplementary readings:

3. A randomized kinematics-based approach to pharmacophore-constrained conformational search and database screening. S. M. LaValle, P. Finn, L. Kavraki, and J.C. Latombe.  J. Computational Chemistry, 21(9):731--747, 2000.