The first step in understanding motion planning is a brief look at why we study motion planning problems, the history of motion planning, and configuration space.

In this assignment, we will read a basic papers related to Configuration Space and answer some discussion questions about configuration space and motion planning. Finally, we will checkout the motion planning code base, Parasol Planning Library (PPL), developed in the Parasol Labs.

1. Configuration Space: An Abstraction for Motion Planning

   In this assignment, we look at an important abstraction for motion planning, C-space. We need an intuitive and mathematical understanding of C-space to understand and design planning algorithms.

2. Checking out PPL

   Please follow all instructions for checking out, compiling, and executing the PPL library.

3. How to Find Help

   This page gives a short method for finding help when you get stuck. It also has links to commonly used resources and examples for grep, find, and gdb.

4. Discussion Questions

   Please answer all the discussion questions through the canvas quiz before the discussion meeting on this assignment.