ECE 550
Advanced Robotic Planning

Displaying course information from Spring 2013.

Section Type Times Days Location Instructor
R LCD 1400 - 1520 T R   241 Everitt Lab  Seth Hutchinson
Timothy Bretl
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.
Subject Area Robotics, Vision, and Artificial Intelligence
Course Prerequisites Credit in ECE 470
Course Directors Seth Andrew Hutchinson
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