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 |
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