Basic Concepts

Introduction to Level Set method

Fast Marching Method and its advantages over discrete search techniques such as Dijkstra's algorithm

Extensions: Ordered Upwind Method and Fast Sweeping Method


Path planning under non-holonomic constraints

Fast marching on unstructured meshes

Real-time path planning (including multi-robot path planning)

Fast penetration depth estimation for elastic bodies

Other: exploration and planning, visibility evaluation

IROS 2008