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Robotics, Software Workshop, Fall 2000

Workshop (sadna)


Lecture: Wednesday 17–19, Schreiber 8

Instructor: Dan Halperin
Office hours: Wednesday 16–17, Schreiber 219

The assignment in this workshop is to plan the motion of a multi-link robot moving in an environment cluttered with obstacles. Several problems will be proposed as well as different solution approaches. The project software should include an interactive graphic environment for input for and simulation of the planning algorithms.

The following two books contain useful material for the workshop:

  1. J.-C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991
  2. M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, Computational Geometry: Algorithms and Applications, Springer, 1997. 2nd rev. edition, 2000

The following paper is a good starting point for randomized path planning:

  • A Random Sampling Scheme for Path Planning [ps]
    J. Barraquand, L.E. Kavraki, J.C. Latombe, T.Y. Li, R. Motwani, and P. Raghavan, International Journal of Robotics Research, 16(6):759–774, 1997

The submission of the project is in two steps:

  1. March 15th, 2001: prototype and its user manual (students are strongly encouraged to submit the prototype earlier than this deadline to allow for more time towards the final submission)
  2. April 30th, 2001: submission of the full project, including full user manual and programming guide

Meetings during the semester:

  • 01/11/00 and 08/11, Schreiber 8: presentation of problems, techniques, projects
  • 15/11, the robotics lab (Schreiber basement): demonstration of helpful software tools; forming teams
  • 20/11 (Monday!), 17:00-18:00, the robotics lab (Schreiber basement): “office hours” by Eti Ezra (estere@post) more explanations on LEDA and CGAL
  • 22/11, 29/11, 06/12: no meetings, preparation of a project proposal
  • 13/12, Schreiber 8: presentation of project proposals (oral and in writing), each team has to give a 15 minute presentation

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