Five Interactive Online Demonstrations for Robot Motion Planning



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This thesis presents five interactive online demonstrations for learning and teach ing robot motion-planning concepts. These include four published Wolfram Demon stration projects built for this Master of Science program, and an additional demon stration that is under review. These Demonstrations illustrate robotic motion planning algorithms from S. M. Lavalle’s classic book “Planning Algorithms”, namely, Minkowski Sum of Convex Polygons, Visibility Polygon, Art Gallery Problem and Motion Planning Demon strations. The aim of using Mathematica to implement these demonstrations is to provide curated, online interactive tools that can be used worldwide to understand and teach concepts from robotics and engineering. By generating these demonstrations, a useful learning resource is made available in the robotic field.



Robot Motion Planning, Minkowski Sum, Art Gallery Problem, Visibility Region, Mathematica Demonstration