====== Lab09 - Randomized Sampling-based Algorithms  ======

^ Motivations and Goals  ^
| Become familiar with randomized sampling-based algorithms |
| Become familiar with PRM |
| Become familiar with RRT|
^ Tasks ([[courses:b4m36uir:internal:instructions:lab09|teacher]]) ^
| [[courses:b4m36uir:hw:t3a-sampl|T3a-sampl]] **(3 Points)** Implement PRM |
| [[courses:b4m36uir:hw:t3b-rrt|T3b-rrt]] **(3 Points)** Implement Dubins RRT |
^ Projects  ^
| [[courses:b4m36uir:projects:p3-motion|P3-ompl]] **(5 Points)** Asymptotically optimal randomized sampling-based path planning |
^ Lab resources  ^
| {{ :courses:b4m36uir:hw:uir-t3a-sampl.zip |T3a-sampl resource package}} |
| {{ :courses:b4m36uir:hw:uir-t3b-rrt.zip |T3b-rrt resource package}} |
| {{ :courses:b4m36uir:projects:uir-p3-ompl.zip |P3 resource package}} |



==== Randomized Sampling-based Motion Planning ====
[[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec07-slides.pdf|Lecture 07]]