CSCE 452/752 Robotics and Spatial Intelligence, Fall 2025

Homework 12

A certain robot lives in the two-dimensional configuration space $\mathcal{C} = [0,10] \times [0, 10]$, shown below. The robot wants to move from the configuration marked in blue near the top center, to the configuration marked in blue near the bottom right. Obstacles are shown in green. The grid is shown for your reference.
a configuration space
  1. Use your favorite pseudo-random number generator to create a sequence of 20 random configurations. List them below.
    Generated using .
  2. Show the operation of the PRM algorithm with these samples, using 2 for the connection distance. What calls are made to the collision checker? What edges are included in the graph?
  3. Did the algorithm solve the motion planning problem? If not, why not?
[Submit via Canvas.]