Course:  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.

Total Hours: 
4 contact hours

Subramanian Ramamoorthy

Apply by email to and copy your email to the instructor. 

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