CPSC 643-600: Motion Planning
(aka Robotics Programming)
Fall 1996

Reading Assignment #3
Roadmap Methods

This reading assignment covers Chapter 4 in the text, and some additional papers. It is provided for guidance only. Also, note that we will not cover all sections listed in the same detail in the course, so use your judgement when doing the reading.

The papers are available here (in postscript) and they are also available in the Bright copy center as Set 10.

• Chapter 4: Sections 1.1, 2, and 4
• "Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces", L. Kavraki, P. Svestka, J.-C. Latombe, and M. Overmars, IEEE Transactions on Robotics and Automation, Vol. 12, No. 4, August 1996, pp. 566-580. postscript
• "A Randomized Roadmap Method for Path and Manipulation Planning", N. Amato and Y. Wu, Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA), Vol. 1, pp. 113-120, April 1996. postscript