Planning on Graphs

In many cases, we can reduce the motion planning problem to that of searching over a graph. Here we present some formalizations about the types of graphs we are going to use and what methods we can use to search over them.

Undirected and Directed Graphs

We start by introducing some basic graph theory concepts, such as vertices and edges and the distinction between directed and undirected edges.

Types of Graphs

We continue the discussion about the types and properties of graphs that we will use for motion planning.

Planning Using Graph Search

We formalize how the motion planning problem can be represented as a search over a graph, and we provide two popular approaches, Djiksra’s algorithm and the A* algorithm, for how we can efficiently search the graph.

These slides summarize some of the concepts presented in the videos above: