Lectures will be held in Room 3017 of the Electrical & Computer Engineering Building, Tuesdays and Thursdays, 2:00-3:20pm.
The required text is:
H. Choset, K. M. Lynch, S. Hutchinson,
G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun,
Principles of Robot Motion: Theory, Algorithms, and Implementations,
MIT Press, Boston, 2005.
- Robot Motion Planning, Jean-Claude Latombe, Kluwer Academic Publishers, 1991.
- Planning Algorithms, Steven M. LaValle.
The official prerequisite for the course is ECE 470: Introduction to Robotics. The relevant material from this course includes rotations and homogeneous transformations, (i.e., SO(n) and SE(n), Euler angles, etc.), kinematics, velocity kinematics, and redundant manipulators. In addition to this material, students should have a basic understanding of probability theory (including continuous random variables, conditional probabilities, and independence), linear algebra, algorithms (including basic notions of computational complexity), and computer programming.
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