Prerequisites: MATH 2250.
Motion planning stands as a central pillar in robotics and a powerful tool in a number of other fields. Motion planning enables robots and autonomous agents to move themselves and other parts of the world to a desired goal by choosing a sequence of appropriate actions. This course will cover the theoretical and algorithmic underpinnings of motion planning as well as practical issues in applying algorithms to real world problems. Applications will be examined across robotics ranging from obstacle avoidance in autonomous cars to rearrangement of furniture by humanoid robots. Examples from fields beyond robotics may also be examined such as bioinformatics, video games, or computer-aided design.