Planning and Decision Making in Robotics

Path Planning Towards a Moving Target

Implemented a Weighted A* planner to generate a plan for a point Robot (Pink) to catch a moving target (Green) on a 8-connected 2D grid.

Planning for N-DOF Arms

Implemented sampling-based planners to plan a collision-free path from a start to a goal position defined as joint angles for a high DOF planar arm.

RRT

RRT*

RRT-Connect

PRM

Symbolic Planner for Task Planning

Implemented a generic symbolic planner based on the STRIPS framework, and validated it on three environments - Blocks, Blocks and Triangles and Fire Extinguisher.