Andreas Orthey (@andreas_orthey)
2024-11-14 | ❤️ 318 | 🔁 66
The last three years I gave a lecture series on “Motion Planning” together with Prof. Wolfgang Hönig (https://whoenig.github.io/) at the @TUBerlin @LIS_TUBerlin.
We designed this course almost entirely from scratch to really capture the state of the art in this field, both from a research and from an industrial perspective.
I’m happy to share that you can now find this course for free on youtube. Please enjoy the content and find out how you can efficiently and optimally move any robot from A to B.
Website: https://imrclab.github.io/teaching/motion-planning Youtube Playlist: https://www.youtube.com/watch?v=Cey4ICbze-U&list=PLsT3MNDma2r4-qX3VUKcHwzrNVuvZufCR
Outline Lecture 01: Organization, Introduction, Problem Formulation Lecture 02: Transformations, Angular representations, Metrics, Efficient collision checking Lecture 03: Graph-based Planning: Representations, A*, Admissible heuristics Lecture 04: Advanced Search-Based Motion Planning Lecture 05: Sampling-Based Geometric Motion Planning: PRMs Lecture 06: Tree-based and Asymptotically-Optimal Planning Lecture 07: Kinodynamic Planning: kinodynamic RRT, SST*, AO-x Geometric Planning: RRT-Connect, EST, PRM* Lecture 08: Introduction to the Open Motion Planning Library (OMPL) Lecture 09: Sampling-Based Motion Planning: More Theory and Planners (EST, RRT-Connect, PRM*, LazyPRM, FMT*); Intro to Optimization Lecture 10: Optimization-Based Motion Planning Lecture 11: Differential Flatness and SCP Lecture 12: Optimization Wrap-Up and Method Comparison Lecture 13: Multi-robot motion planning
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