As a new student there is a lot of material to learn: both the planning code, as well as some vital related work of motion planning, e.g., probabilistic roadmaps, C-Space, and items for your individual project. This short course on motion planning accomplishes all of this in an integrated course reviewing literature and motion planning code. Near the end of the course you will be ready to work on individual projects on motion planning.

0. Access Accounts and Webpages

   A new student should first get an account and read the student expectations. This lesson will give you access to all of the resources necessary for our lab!

1. Motion Planning and Configuration Space

   The first step in understanding motion planning is a brief look at why we study motion planning problems, and configuration space (C-space). C-space is the first major development in solving motion planning problems and understanding its formulation and importance is pivotal in understanding motion planning. This assignment shows how to check out the code, run vizmo, and perform some simple experiments with the code.

2. Probabilistic Roadmaps

   In this lab, we explore the planning library, the history of motion planning, and sampling-based motion planning, a very common method of solving motion planning problems.

3. The Parasol Planning Library

   In this lab, you will learn how to write your own motion planning method in our library. You will learn how to navigate our codebase.

4. Adding Yourself to Our Webpage

   In this module, you will add your own personal page to our webpage!

5. Vizmo: Tools for Visualizing Motion Planning Problems

   In this lab, we have our own software to solve motion planning problems and view their solutions. THis assignment shows how to run vizmo and perform simple experiments with the code.

6. Topology

   This is an optional, extra module that discusses topics in topology.