ECE 550 - Advanced Robotic Planning

Semesters Offered

Official Description

Computational approaches to robot motion planning, configuration space, algebraic decompositions, artificial potential fields, retraction, approximate decompositions, planning under uncertainty, grasp planning, and task-level planning. Course Information: Same as AE 583. Prerequisite: ECE 470.

Prerequisites

Credit in ECE 470

Subject Area

Robotics, Vision, and Artificial Intelligence

Course Directors

Description

Computational approaches to robot motion planning, configuration space, algebraic decompositions, artificial potential fields, retraction, approximate decompositions, planning under uncertainty, grasp planning, and task-level planning.

Notes

Approved for both letter and S/U grading.

Topics

  • Introduction
  • Motion Planning: configuration space (C-space): C-space of a single, rigid object, obstacles in C-space; artificial potential fields; roadmap representations of C-space; cell decomposition of C-space: approximate methods, exact methods; kinematic constraints on motions; uncertainty
  • Grasp planning: mechanics of pushing and sliding; form closure and stability, issues in dextrous manipulation
  • Task level planning: assembly sequence planning; symmetry groups and assembly planning; hierarchical task planning

Detailed Description and Outline

Topics:

  • Introduction
  • Motion Planning: configuration space (C-space): C-space of a single, rigid object, obstacles in C-space; artificial potential fields; roadmap representations of C-space; cell decomposition of C-space: approximate methods, exact methods; kinematic constraints on motions; uncertainty
  • Grasp planning: mechanics of pushing and sliding; form closure and stability, issues in dextrous manipulation
  • Task level planning: assembly sequence planning; symmetry groups and assembly planning; hierarchical task planning

Approved for both letter and S/U grading.

Last updated

2/13/2013