How does one program a robot to navigate complex environments like a skatepark? For my CS326a project I aimed to develop algorithms that allowed robots to effectively conduct path planning in dynamic environments. My path planning software was able to generate a path that allowed a robot to find its way out of complex mazes where the only solutions required exploitation of environment dynamics. (i.e going back and forth up a half-pipe in order to build up enough speed to jump over a wall.)
The technique developed new methods for exploring the state-time space when building probabilistic roadmaps. For more information on how this worked read my article in ACM Crossroads.
The screens below show a robots path (pink) when given a goal to reach halfway up the ramp.
