Old Well

Department of Computer Science
College of Arts and Sciences
The University of North Carolina at Chapel Hill

COMP 790-058: Robot Motion Planning and Multi-Agent Simulation

Main Instructor: Dinesh Manocha

Time and Place: MW 12:30-1:45pm, Room: FB008
Prerequisites: Undergraduate Algorithms Course, Some Background in Geometry OR Instructor's approval
Textbook: Course Notes and In-Class Handouts
Reference Book LaValle's Book on Planning Algorithms
Line Line


Line Motion is ubiquitous in both the real world and synthetic environments. Representations of motion are central to all computational disciplines that deal with modeling dynamical or kinematic systems in the biological, physical or virtual world. For example, interaction with objects in the virtual environment, design and assembly of electronic appliances, animation of articulated figures, manipulation of nano-structures, modeling of tissues and muscles, etc. Recently, motion planning techniques are also used in computer games and virtual worlds, as well as simulating the behaviors of large number of human-like agents or crowds. In this seminar course, we will study recent advances in motion planning including but not limited to: The course will consist of lectures by the instructors on the fundamental concepts in the areas, student lectures on selected topics of interests, and special guest lectures on recent research or work in progress. The goal of this class is to get students an appreciation of computational methods for motion planning and multi-agent simulation. We will discuss various considerations and tradeoffs used in designing various methodologies (e.g. time, space, robustness, and generality). This will include data structures, algorithms, computational methods, their complexity and implementation. Depending on the interests of the students, we may cover topics of interests in related areas. The course will include coverage of some software systems that are widely used to implement different motion planning and multi-agent simulation algorithms.




Here is a list of lecture topics (subject to change). Schedule and information on each topic (e.g. readings, web pointers) will be added during the semester before each class.