ROBOT MOTION PLANNING USING REAL-TIME HEURISTIC SEARCH

Abstract

I would like to sincerely thank Professor Wheeler Ruml for all the help he has given me throughout the entire process of finding a topic, doing the research and writing this thesis. I would also like to thank Kevin Rose, who I have worked with closely over the past year. We worked jointly on a robot simulator framework, as we are both doing theses in the same area. Finally, I would like to thank all my friends and my girlfriend Beth to whom I have ranted to endlessly about my robots. iii CONTENTS ACKNOWLEDGMENTS............................... LIST OF FIGURES.................................. ABSTRACT...................................... iii