ECE 550

ECE 550 - Advanced Robotic Planning

Spring 2016

Title	Rubric	Section	CRN	Type	Hours	Times	Days	Location	Instructor
Advanced Robotic Planning	AE583	R	56133	LCD	4	1400 - 1520	T R	3017 Electrical & Computer Eng Bldg	Seth Hutchinson
Advanced Robotic Planning	ECE550	R	39335	LCD	4	1400 - 1520	T R	3017 Electrical & Computer Eng Bldg	Seth Hutchinson

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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