Course Information, Ph.D. Course in Motion Planning and Control, 6+3 hp
A course in motion planning and control is
to be held at the Division of Vehicular Systems during the fall semester 2016. The course is open for
all Ph.D. students and will cover
both fundamental algorithms and state-of-the-art methods for
motion planning and control. A significant part of the course will
be dedicated to implementation of a number of selected algorithms
and subsequent applications on small examples. The course relates to research within several ongoing projects, such as WASP Automated
Transport Systems, ELLIIT, and iQMatic.
In the course, there will be approximately one meeting per week. For each meeting in the course, one participant will be assigned in
advance to prepare a short lecture (approximately 30 minutes) based on the reading material that has been
studied by all course participants during that week. The assigned
participant is also expected to, together with the course responsible, lead a
joint discussion in the group on the material after the
lecture. During this discussion, both the algorithms themselves and
other related aspects that have appeared when implementing them are
In connection with each meeting, two hand-in assignments will be
requested. The assignments should be submitted to the course
responsible prior to each course occasion, since the exercises will be discussed
during the meeting.
The course will be divided into two parts. The first part will cover
fundamentals of motion planning and will give 6 hp. The second part
will focus on more advanced aspects of motion planning and control and
will also comprise a project part where the participant performs a
slightly larger theoretical or experimental evaluation of a method of his/her
choice, preferably related to his/her own research field. The project
could, for instance, be based on the Open Motion Planning Library
(OMPL) or the Robot Operating System (ROS). The second part of
the course will give 3 hp.
The first part of the course will be based
on Chapters 1-8 in the book
The book is available for free download at
the homepage of the author:
The second part will be based
on Chapters 13-15 in the same book, but will be complemented with
additional articles and book chapters.
- LaValle, S. M., Planning Algorithms, Cambridge University
Press, Cambridge, UK, 2006.
In order to receive course credits, the participant is required to:
- Attend the weekly meetings.
- Submit the hand-in
assignments (primarily implementation code or scripts with comments, no extensive written reports
- Prepare one, or at most two, lectures during the
- For the second part of the course, a completed mini
project, an oral project presentation at a seminar, and a short written report are also required.
Part I (6 hp)
|Sep. 2, 10-12
||Introduction to Motion Planning and Control
||Chapters 1-2 in LaValle.
||Björn Olofsson and Erik Frisk
|Sep. 9, 10-12
||Fundamantal Concepts in Motion Planning
||Chapters 3-4 in LaValle.
|Sep. 16, 10-12
||Sampling-Based Methods in Motion Planning
||Chapter 5 in LaValle.
|Sep. 23, 10-12
||Combinatorial Motion Planning
||Chapter 6 in LaValle.
|Oct. 7, 10-12
||Additional Topics in Motion Planning
||Chapter 7 in LaValle.
|Oct. 14, 10-12
||Introduction to Motion Planning and Feedback Control
||Chapter 8 in LaValle.
Part II (3 hp)
|Oct. 26, 15.30-17
||Differential Models and Constraints
||Chapter 13 in LaValle.
|Nov. 4, 10-12
||Sampling-Based Motion Planning with Differential Constraints
||Chapter 14 in LaValle.
|Nov. 11, 10-12
||Additional Topics in Motion Planning and Control
||Chapter 15 in LaValle.
|Dec. 9, 13-15
||Project Presentations and Discussions
||Björn Olofsson and Erik Frisk
Responsible for the course
is Björn Olofsson (firstname.lastname@example.org) and Erik Frisk
(email@example.com) at the Division of Vehicular Systems,
Department of Electrical Engineering,
Informationsansvarig: Björn Olofsson
Senast uppdaterad: 2016-11-24