Probabilistic Motion Planning for Redundant Robots

Duration: Nov 2025 - Dec 2025
Context: EECS 465 (Intro to Algorithmic Robotics) Course Project
Advisor: Prof. Dmitry Berenson

Project Overview

This project focused on the application and optimization of standard path-planning algorithms on high degree-of-freedom robotic arms.

Reproduced and benchmarked sampling-based motion planning algorithms (specifically RRT-Connect and PRM) for a 7-DOF Franka Panda robot in simulation.
Implemented a hybrid sampling strategy that significantly optimized performance, reducing trajectory generation latency by approximately 75%.