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

1. Reading Assignments

   Please read the following papers that discuss fundamental methods for probabilistic motion planning.

   1. L. Kavraki, P. Svestka, J.-C. Latombe, M. Overmars. Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces.
   2. Steven M. LaValle Rapidly-Exploring Random Trees: A New Tool for Path Planning.
2. Experimenting with PRMs and RRTs

   In this lesson, you will build several roadmaps by varying (i) the number of samples and (ii) the number of edges. You will be observing the performance of these roadmaps in two different environments. Then you will try a tree based approach using these same two environments.

3. Discussion Questions

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