Now that we know a PRMs and compiling and running PPL and Vizmo, this assignment explores some of the parameters of PRMs such as sampling and connection variations.

1. Reading Assignment

   The following book chapter discusses algorithmic foundations of sampling-based planning. Please read sections 7.0, 7.1, 7.2, and 7.3 and focus on high level algorithmic ideas, not on little details (faster read).

   Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. Chapter 7: Sampling Based Algorithms.

2. Experiment: Testing environment benchmarks

   In this first experiment, you will be testing the code on a different environment. You will contribute to the ongoing effort to generate and update PPL benchmarks.

3. Experiment: Varying the sampling technique for PRMs

   In this experiment, you will be exploring various sampling approaches to PRMs. Run through the step-by-step instructions to generate plots of the data to help you answer the discussion questions at the end of this section.

4. Experiment: Varying the connection technique for PRMs

   In this experiment, you will be exploring various k-values during the connection step of PRMs. Run through the step-by-step instructions to generate plots of the data to help you answer the discussion questions at the end of this section.

5. Discussion Questions

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