Course Websites

ECE 550 - Advanced Robotic Planning

Last offered Spring 2016

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

Seth Andrew Hutchinson

Description

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