ECE 550
ECE 550 - Advanced Robotic Planning
Summer 2020
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