I plan to implement a 2-D motion-planning algorithm using cell
decomposition.  More specifically, I will attempt implementing approximate
cell decomposition.  The robot will have a certain size and be able to
rotate about a specified axis.  Given the starting and goal points, the
algorithm should determine, if possible, a path from the starting point to
the goal point.  In addition, the robot's rotation will be determined for
each point in the path.  Latombe's Robot Motion Planning book will serve
as the starting point for this project.  I may opt to simulate a
multi-jointed arm instead.  I may also attempt to simulate both by a
moving robot with a multi-jointed arm if time permits.