CSE 285 - Advanced Topics on Motion Planning


Marcelo Kallmann - Fall 06

Wk Date Lecture Notes Readings
1 Aug 29 L1: introduction -
2 Sep 05 labor day -
3 Sep 12 L2: kinematics, sampling-based planners

Everybody reads:
Kavraki 1996, LaValle 1998,
Kuffner 2000, Kallmann 03
4 Sep 19 L3: collision detection for motion planners

Everybody reads + individual presentations:
Ryan: Gottschalk 1996
Mentar: Redon 2004
Xiaoxi: Schwarzer 2004
only reading: Lin 1996
5 Sep 26 L4: optimizations for PRMs

Individual Presentations + comparison text:
Ryan: Bohlin 2000 (longer version here)
Mentar: Nielsen 2000
Xiaoxi: Burns 2005
6 Oct 3 L5: additional planners Individual Presentations + comparison text:
Xiaoxi: Sanchez 2001
Mentar: Plaku 2005
Ryan: Leven 2002
Additional reading: Kallmann 2004
7 Oct 10 L6: manipulation Individual Presentations + comparison text:
Xiaoxi: Stilman 2005
Mentar: Yamane 2004
Ryan: Kallmann 2005
8 Oct 17 L7: locomotion Individual Presentations + comparison text:
Xiaoxi: Lau 2005
Mentar: kuffner 2002
Ryan: Pettre 2002
Additional reading: Choi 2003
9 Oct 24 L8: primitives Individual Presentations + comparison text:
Xiaoxi: Righetti 2006
Mentar: Thoroughman 2000
Ryan: Giszter 1993
Additional reading: Wolpert 2001
10 Oct 31 L9: imitation Individual Presentations + comparison text:
Xiaoxi: Ijspeert 2002
Mentar: Schaal 2003
Ryan: Schaal 2002
Additional reading: Metta 2002
11 Nov 7 L10

Individual Presentations + analysis of your paper:
Xiaoxi: Boor 1999   + Hsu 2003
Mentar: Jaillet 2006
Ryan: Reynolds 1999
12 Nov 14 L11 Individual Presentations + analysis of your paper:
Xiaoxi: Burns 2004   + 2005a  + 2005b
Mentar: Kovar 2002
Ryan: Pettre 2005
13 Nov 21 L12 Individual Presentations + analysis of your paper:
Xiaoxi: Houser 2005
Mentar: Barbic 2004
Ryan: Arikan 2001
14 Nov 28 L13 Individual Presentations + analysis of your paper:
Xiaoxi: Petti 2005
Mentar: Arikan 2002 and Ikemoto 2006
Ryan: Shao 2005
15 Dec 5

Projects
and
course evaluations

 Individual presentations about the current state of the individual projects

Lectures: Tu 10am-12

Project support code : graphsim, plbech, skelapp; already sent and soon under subversion. 

Office hours: Prof. Kallmann's office (SE1 282) Wed 4-5pm, or Thu 3-4:20pm.

Grading
20% Participation in class and discussions
40% Paper presentations and texts
40% Project