- Tim Bretl. Aerospace Engineering, Phone: 217-244-3126, Email: email@example.com
- Seth Hutchinson. Electrical and Computer Engineering, Phone: 217-244-5570, Email: firstname.lastname@example.org
Tu/Thu 9:30-10:50 a.m. in 344 MEB.
This course will explore open problems in robot motion planning. We will begin with a review of classical material (configuration space, artificial potential fields, approximate decompositions, roadmaps, sampling-based algorithms, nonholonomic constraints, representations of uncertainty) and then will proceed to discuss topics of current interest, based on a selection of papers from the literature.
You have three responsibilities in this course:
- (20%) Present a paper. You will select one paper from a list TBA, and will give a 60-minute lecture on this paper to your colleagues in class, on a day TBA (during the last 6-8 weeks of the semester). You are required to provide a draft of your slides and to discuss this draft with Profs. Bretl and Hutchinson no later than two weeks prior to the day of presentation.
- (20%) Review a paper. You will be assigned one paper that has been submitted to a robotics conference in the area of robot motion planning, and will write a critical review of this paper. The paper will be assigned on approximately March 21, and the review will be due on approximately April 11.
- (60%) Write a paper. You will complete a research project on a topic of mutual interest both to you and to the instructors. Deliverables are as follows:
- Topic (5%)
- Due at 5PM on Jan 27.
- It should be 1 page.
- Full Proposal (10%)
- Due at 5PM on Feb 24.
- It should be 4 pages. It should contain a clear problem statement, a review of related work, a method of approach, and a milestone of your own choosing.
- As part of this assignment, you will be asked to review the proposals of two colleagues.
- Milestone (5%)
- Due at TBA on Mar 29-31.
- Discuss your preliminary results with the instructors.
- Final Paper (20%)
- Final Presentation (20%)
- Due at TBA on May 5.
- It should be 15 minutes, plus 5 minutes for questions.
- Topic (5%)
Consent of the instructor. (If you have taken and done well in any one of ECE470, ECE515, or CS440, then you are in good shape.)
- Principles of Robot Motion: Theory, Algorithms, and Implementations (Choset et al., MIT Press, 2005)
- Planning Algorithms (LaValle; Cambridge University Press; 2006)
- Robot Motion Planning (Latombe)
- A Mathematical Introduction to Robotic Manipulation (Murray, Li, Sastry, CRC Press), also available online
|Tu, Feb 15||differential geometry and nonholonomic systems||Tim|
|Tu, Mar 1||PCA-guided adaptive sampling||Olaoluwa|
|Th, Mar 3||kinodynamic motion planning||Gyu|
|Tu, Mar 8||LQR-trees||Gokhan|
|Th, Mar 10||mobipulation||Ammar|
|Tu, Mar 15||pushing||Justin|
|Th, Mar 17||the relationship between continuum robots and manipulation of deformable objects||Dennis|
|Tu, Mar 29||motion primitives and locally-weighted regression||Bilal|
|Th, Mar 31||apprenticeship learning||Miles|
|Tu, Apr 5||path integrals for reinforcement learning||Navid|
|Th, Apr 7||gaussian process models for SLAM||Junho|
|Tu, Apr 12||cylindrical algebraic decomposition||Sam|
|Th, Apr 14||coverage planning||Colin|
|Tu, Apr 19||sensor placement||Max|
|Th, Apr 21||search decisions||Devin|
|Tu, Apr 26||distributed control of coverage in sensor networks||Hyongju|
|Th, Apr 28|
|Tu, May 3|