1. Real Time Motion Planning

2. Introduction  What is Real time Motion Planning?  What is the need for real time motion Planning?  Example scenarios in real life

3. Real Time Motion Planning  Problem of a moving vehicle  Computational Complexity  Solutions?

4. PRM  Concept of PRM  Is it always feasible?

5. RRT  Concept of RRT  Dependencies?

6. Central Idea  Motion Planning Framework  System Dynamics  Obstacle Free Guidance Systems  Environment Characterization  Problem Foundation

7. Algorithm  Start from Initial conditions.  Compute trajectories and build a tree structure  At each step add a new branch (edge) and a new milestone (node) to the tree  Add feasible trajectories to the tree  Repeat till one of the nodes is close to the goal

8. Data Structure  Data stored at Nodes  State,Time  Lower and upper bound cost  Data Stored at edges  What could they stand for?  What could be stored?

9. Steps in Involved  Initialization  Tree Expansion  Safety Check  Updating Costs  Tree Pruning

10. Pictoral Representation

11. Thank You  Questions?