ECE 550 - Advanced Robotic Planning

Spring 2016

TitleRubricSectionCRNTypeHoursTimesDaysLocationInstructor
Advanced Robotic PlanningAE583R56133LCD41400 - 1520 T R  3017 Electrical & Computer Eng Bldg  Seth Hutchinson
Advanced Robotic PlanningECE550R39335LCD41400 - 1520 T R  3017 Electrical & Computer Eng Bldg  Seth Hutchinson

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 Director

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