Motion Planning (Comp 790-058)
Homeworks
MPK: Homework 1
Second Life: Homework 1 Homework 2
Class Presentation
I gave a lecture on motion planning in deformable and modifiable environments
The slides (along with the videos) for my presentation can be found here.
Motion Planning for Deformable Models
For my final course project I designed a system for motion planning for deformable robots in deformable environments using a constraint-based framework. The deformations were simulated using an FEM implementing stiffness warping and the planning was done using a modified PRM implementation.