AE 498 MPA: Motion planning for aerospace vehicles
- University of Illinois at Urbana-Champaign
- Fall Semester, 2006
- Assistant Professor Tim Bretl
Required Texts
None. We will read a number of papers, all of which will be available either in hard copy, in online course reserves from the library, or in the schedule.
Recommended Texts
These are being placed on course reserve. Come to office hours if you would like to borrow a copy.
- For motion planning:
- Latombe. Robot motion planning. Kluwer, 1991.
- Choset et al. Principles of robot motion: theory, algorithms, and implementations. MIT Press, 2005.
- LaValle. Planning algorithms. Cambridge University Press, 2006. Available online at http://planning.cs.uiuc.edu/.
- For geometric control:
- Murray, Li, and Sastry. A mathematical introduction to robotic manipulation. CRC Press, 1994.
- Sastry. Nonlinear systems: analysis, stability, and control. Springer-Verlag, 1999.
- Bullo and Lewis. Geometric control of mechanical systems: modeling, analysis, and design for simple mechanical control systems. Springer, 2005.
- Spong, Hutchinson, and Vidyasagar. Robot modeling and control. Wiley, 2006.
- For localization and mapping:
- Thrun, Burgard, and Fox. Probabilistic robotics. MIT Press, 2005.
- For optimization:
- Bryson and Ho. Applied optimal control: optimization, estimation, and control. Taylor and Francis, 1975.
- Boyd and Vandenberghe. Convex optimization. Cambridge University Press, 2004. Contains many references to other good books on non-linear/non-convex programming. Available online at http://www.stanford.edu/~boyd/cvxbook/.
- For algorithms:
- de Berg et al. Computational geometry: algorithms and applications. Springer-Verlag, 2000.
- Cormen et al. Introduction to algorithms. MIT Press, 2001.