The Kautham Project Tutorials

• Basic
  • Overview
  • Installation/build instructions
  • Getting started
  • FAQS
• Intermediate
  • Benchmarking
  • The ROS interface
  • The Python interface
  • Planning using constraints
  • Planners using synergies
  • Control-based planners
  • Physics-based planners
  • Visualizing with RViz
• Advanced
  • How to add a geometric planner
  • How to add a control-based planner
  • How to add a physics-based planner
  • How to add a sampler
  • Planning in operational space
  • Interfacing a task planner
  • Using ontologies for knowledge-based planners
• Exercises
  • Motion planning methods based on potential fields: NF1 and HF
  • Basic sampling-based motion planning methods: PRMs, RRTs
  • Improvements and extensions for sampling-based motion planning methods
  • Task planning
  • Integrating task and motion planning
  • Final work proposals