Robotis Motion Planning

RI16-735
Robotic Motion Planning
NSH 3002, MW10:30-11:50, Fall, 2010

 

Main

Syllabus

Lecture

Homework

Student Gallery

Reading Assignment</D\ iv>

 

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Personnel:Instructor: Howie Choset, NSH 3211
choset [theat] cs [thedot] cmu [thedot] edu
412-CMU-2495

TA: Glenn Wagner, NSH A403 (temporary)
gswagner [theat] cmu [thedot] edu
412-CMU-

Mailing List:

Secretary: Peggy Martin NSH 3218
pm1e [theat] andrew [thedot] cmu [thedot] edu
412-CMU-7943

Class group email (Email TA to be added/removed)
16735-f10 [theat] googlegroups [thedot] edu

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Descriptive Blurb:The robot motion field and its applications have become incredibly broad and theoretically deep at the same time. The goal of the course is to provide an up-to-date foundation in the motion planning field, make the fundamentals of motion planning accessible to the novice and relate low-level implementation to high-level algorithmic concepts. We cover basic path planning algorithms using potential functions, roadmaps and cellular decompositions. We also look at the recent advances in sensor-based implementation and probabalistic techniques, including sample-based roadmaps, rapidly exploring random trees, Kalman filtering, and Bayesian estimation. If time permits, we will study non-linear controls and how it applies to non-holonomic constraints. Clickherefor more information.

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Who should take this class:Advanced undergraduates and graduate students who are new to motion planning.

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Text:H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun,
Principles of Robot Motion: Theory, Algorithms, and Implementations,
MIT Press, Boston, 2005.
Errata 

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Related Robotics Texts:

• Robot Motion Planning,  Jean-Claude Latombe,  Kluwer Academic Publishers, 1991.
• Planning Algorithms, Steven M. LaValle.
• Probabilistic Robotics, S. Thrun, W. Burgard, and D. Fox, MIT press, Cambridge, MA, 2005
• Where am I?--Sensors and Methods for Mobile Robot Positioning by J. Borenstein , H. R. Everett , and L. Feng
  
• Introduction to AI Robotics by Robin Murphy
  
• Sensors for Mobile Robots by H. Bart R. Everett
  
• Computational Principles of Mobile Robotics by Gregory Dudek and Michael Jenkin
  
• Feedback Systems: An Introduction for Scientists and Engineersby Karl J. Astrom and Richard M. Murray
  

 

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Papers:Here is a far-from updated list of papers for your reference

• Follow the Book Outline
• Bob Grabowski's Favorites
• Latombe's List of Researchers
• Goldberg's List from his class
• Srinivas Akella's List

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Homework:You are required to create a web page on which you will display your homework assignments. This page should contain a link to each homework's solution. The page for an individual assignment should include a demo of the working program (e.g., gif files, animations), links to source code for your programs (including any necessary makefiles, and a brief explanation of your approach.

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Class Project:Propose and implement a robot motion planning project. It can be something related to your research and it must have a motion planning component to it (respect obstacles).   Project proposals will be due at mid-semester (deadlines will be announced soon, and here is a PPT template). As with your homework,  you will create a web page for your project, and it is this web page that will be graded. This page is due 12/12 (two days after the demo) at midnight.

You may find this collection of laser scan data helpful.

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Reading Assignment:Based on your interests, we will form groups of one or two to present a paper that go into depth a topic which was covered in the previous week.

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Grading

• 70% Homework
• 10% Reading presentation
• 20% Final project

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Software:
(No Guarantees)Please feel free to use software resources that are available in the public domain such as

• Kavraki Lab's OOPSMP
•  Mitul's Motion Planning Tool Kit
•  OpenGL
•  CGAL homepage
•  LEDA homepage
•  GIFMerge homepage
•  Collision Detection: RAPID, PQP, V-COLLIDE, I-COLLIDE
•  Collision Detection: V-Clip
•  Geomview
•  Source Forge Nomadic Software
•  Dave's Robotic Operating System
•  Pyro, Prthon Robotics
•  The Orocos project
•  Robot Intelligent Kernel
•  Marie
•  Orca: components for Robotics
•  Experimental robotics framework
•  Microsoft Robotics Studio
•  Robomind
•  OpenRAVE
•  RoS