ICAPS 2016 Summer School

Sampling-based motion planning
and its combination with task planning

Lecture Outline

  1. Overview of sampling-based robot motion planning
  2. Integrated task and motion planning
  3. Overview of the Open Motion Planning Library (OMPL)
  4. Modeling & solving motion planning problems with OMPL
  1. 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, 2005. http://motionplanning.com
  2. S. M. LaValle, Planning Algorithms. Cambridge University Press, 2006. http://msl.cs.uiuc.edu/planning