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hello folks today we're going to be talking about motion planning and in particular we'll be spending a lot of time talking about sampling based planners this is the subject of robotic systems chapter 10 and you can find it in this link here so today we're going to be talking about a couple of concepts about motion playing configuration space free space and sea obstacles as well as a certain type of planners called probabilistic road map planners also known as sampling based planners in particular we'll be looking at two techniques called prm and rrt and we'll talk about some of the notions of probabilistic completeness and we'll also talk about some of the aspects of generating higher quality paths using optimizing planners so the basic motion plotting problem is to try to come up with a collision free path for a rigid robot or articulated robot amongst some static obstacles the inputs to a motion planner include the geometry of the robo

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