ECE 550
Advanced Robotic Planning    

      University of Illinois at Urbana-Champaign

Course Personnel

Seth Hutchinson (course instructor)
158  Coordinated Science Lab
1308 W Main Street
Urbana, IL 61801-2307
Phone: +1 217 244-5570

Office Hours: Monday 10:00-11:00am


Hyongju Park (TA)
1514 Beckman Institute
405 N. Mathews Avenue
Urbana, IL, 61801
Office Phone: (217) 244-1372
Email: park334 at Illinois dot edu

Office Hours: Tuesday 9:00-11:00am


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.

Recommended Texts:


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.


  • Exam 1: Wednesday, April 13 at 7:00pm, Talbot Lab Rm 103.
    The exam will cover the first two written homework assignments, configuration spaces, potential field planners, sampling-based planners You are allowed to use one page of handwritten notes (standard 8.5 x 11.0 inches, both sides). No calculators are allowed.
  • Final Exam: Tuesday, May 10, 7:00pm, ECEB 3017


Written Homework: 25%
Programming Assignments Homework: 25%
Midterm Examination: 20%
Final Examination 30%