Handout: Mon Oct 25
Due: Wed Nov 3

Implement a probabalistic planner (PRM, RRT, etc. Pure random walk is Not OK :) for a robotic system of at least 4 coupled degrees of freedom. This can be a robot arm with four links, a system of multple robots (must be reasonably dense, to fit the coupled requirement), or similar system. Test worlds are expected to have a reasonable number of obstacles. Furthermore, there should be a fairly simple method of specifying new test worlds (i.e. specifying verticies in a text file is fine, but hard coding the world into your code is not). Your code should be able to handle a wide variety of worlds without requiring additional tuning. You are expected to show the robot operating in at least two different envrionments. If you want, you can use collision checking software that is available on the web.

On your web page, you should show the following:

• A figure that shows each environment (without the robot),
• A figure that shows the robot at all of the randomly sampled configurations in each envrionment
• A movie of the robot executing a plan in each envrionment

Example Solution
Example Solution (Implements an RRT)