01
Unit 1: Geometric Motion Planning
Configuration space (C-space obstacles), Workspace vs. C-space, Collision detection (GJK algorithm, bounding volume hierarchies), Sampling-based planners (PRM: probabilistic roadmap, lazy evaluation), RRT family (RRT-Connect, RRT*: asymptotic optimality), Informed sampling (elliptical projections).
02
Unit 2: Optimization-Based Planning
Trajectory optimization (CHOMP, STOMP, TrajOpt), Convex optimization (convex MPC, SOCP), Differential flatness for drones/manipulators, Whole-body planning (centroidal dynamics), Contact-rich manipulation (MuJoCo, QP trajectory optimization), Real-time receding horizon control.
03
Unit 3: Learning for Motion Planning
Imitation learning (BC, DAGGER, GAIL), Reinforcement learning planners (AlphaPilot, Dreamer), Neural motion policies (MPNet, MotionPolicy), Scene-aware planning (LEGO, SPN), Foundation models for planning (RT-2, Octo), Fast planning via regression (Latent Planners), Sample efficiency techniques.
04
Unit 4: Multi-Robot and Human-Aware Planning
Decentralized planning (conflict-based search CBS), Priority planning, Velocity obstacles (ORCA), Human-robot cohabitation (social costs, reciprocal collision avoidance), Dynamic environments (DWA, TEb), Legible and predictable trajectories for HRI.
05
Unit 5: Advanced Topics
Nonholonomic planning (dubins paths, Reeds-Shepp curves), Underactuated systems (acrobot, pendubot), Legged locomotion (MPC, WBF), Soft robotics planning, Uncertainty-aware planning (POMDPs, belief space), Integrated perception-planning (VPG, PEPLAN), Real-time certification (iCORA, anytime algorithms).