MOTION PLANNING FOR DYNAMIC ENVIRONMENTS
A Tutorial at 2012 IEEE International Conference on Robotics and Automation

Date: 14 May 2012, Time: 8:45 - 5:45
By: Steven M. LaValle, University of Illinois

Abstract:

This all-day tutorial introduces the audience to motion planning algorithms and associated mathematical concepts. Prior experience in this area is not assumed. The morning part starts from the basics of collision-free path planning by introducing geometric representations, transformations, configuration spaces, sampling-based motion planning, and combinatorial motion planning. The afternoon part covers methods that address many concerns which arise in practice when the robot's environment is changing or is incompletely specified. This falls under the heading of planning in dynamic environments. Fundamental limitations of planning in this context are discussed, followed by a survey of several successful approaches from specific contexts, such as planning for humanoids, autonomous vehicles, and virtual agents.

Students are especially welcome!

Schedule:

Part	Times	Topic	Materials
Morning
1	8:45-10:15	Motion Planning: Life in C-Space	slides
Break	10:15-10:45
2	10:45-12:15	Motion Planning: Finding the Path	slides
Afternoon
Lunch	12:15-2:15
3	2:15-3:45	Dynamic Environments: Modeling Issues	slides
Break	3:45-4:15
4	4:15-5:45	Dynamic Environments: Methods	slides

LaValle is grateful for the support of NSF grant 0904501 (IIS Robotics), NSF grant 1035345 (CNS Cyberphysical Systems), DARPA SToMP grant HR0011-05-1-0008, and MURI/ONR grant N00014-09-1-1052. He also thanks John Spletzer for organizing the ICRA invited tutorials.