Structure and Synthesis of Robot Motion
Time in Year:
Course runs in Semester 2.
Number of Posts:
SSRM was taught for the first time in Spring 2009. There is no
official course text but a major portion of the topics are addressed to
varying degrees in the following books:
H. Choset et al., Principles of Robot Motion, MIT Press, 2005.
S. LaValle, Planning Algorithms, Cambridge University Press, 2006.
The presentation of the course will be somewhat different in this
semester. The first part of the course will consist of a set of
lectures on (deterministic and stochastic) optimal control and game
theoretic problems. The second part will address motion planning
methods, including sampling-based and randomized algorithms. In both
parts, robotics-specific concepts (regarding configuration spaces,
kinematics, redundancy, etc.) will be introduced as we go along.
There will be 4 sessions for each tutorial group. As this is a
relatively new course, it is unclear how many tutorial groups will be
needed. Tentatively, we shall assume a single group.
There will be specific exercises set in advance of the tutorial, and
all students are expected to prepare these prior to the tutorial
session. However, it is likely that the students will require
clarifications on the concepts. So, the tutor's job is to lead the
group through the exercises, answer questions etc.
The tutor will need to be familiar with the topics mentioned
above. Having done well in robotics and machine learning courses would
be suitable preparation.
This post is paid at grade UE06, currently upwards of £12.50/hr.
4 contact hours
Apply by email to firstname.lastname@example.org and copy your email to the instructor.