Announcements

Syllabus

Class policies

Schedule

Resources

Course Schedule

B659 Spring 2013

 

#

Date

Subject

Readings (*optional)

1

1/7

Welcome, introduction

 

2

1/9

Configuration space

Principles Ch. 3.1-3.4

*Lozano-Perez (1986)
*Lozano-Perez (1983)

3

1/14

Rigid transformations

Principles Ch. 3.5-3.8, A.E

4

1/16

Forward kinematics

Principles Ch. 3.8

Planning Algorithms Ch. 3

--

1/21

5

1/23

Inverse kinematics

Wang and Chen (1991)

Duindam et al (2008)

*Canutescu and Dunbrack (2003)

6

1/28

Dynamics of rigid bodies and of articulated robots

Featherstone (1983)

Principles Ch. 10

7

1/30

Feedback control

Principles App. J, Principles Ch. 12.1-3?

8

2/4

Motion planning for point robots

*Principles Ch. 2, 5.1, 6.1

9

2/6

Probabilistic roadmap planning

Principles Ch. 7.1-7.2
Kavraki, Sveska, Latombe, and Overmars (1999)

10

2/11

Collision detection

Schwartzer, Saha, and Latombe (2005)
Sanchez and Latombe (2002)

11

2/13

Sample-based planning with differential constraints

Principles Ch. 7.2

Lavalle and Kuffner (2001)

Hsu, Kindel, Latombe, Rock (2001)

12

2/18

Kinematic reductions and trajectory optimization

Principles Ch. 11.3

Bobrow (1998)

*Hauser and Ng Thow Hing (2010)

13

2/20

Manipulation planning

Simeon, Cortes, Laumond, Sabahni (2004)

14

2/25

3D sensing and mapping

 

15

2/28

State estimation and Kalman filtering

Welch and Bishop (2001)

Principles Ch. 8

16

3/4

Particle filtering

Rekleitis (2004)

Principles Ch. 9

17

3/6

Project midterm presentations

 

--

3/11

 

 

--

3/13

 

 

18

3/18

Real-time planning

Frazzoli, Dahleh, Feron (2002)

Hauser (2011)

Rohan

19

3/20

Legged locomotion planning

Chestnutt, Kuffner, Nishiwaki, Kagami (2003)

*Bretl, Lall, Latombe, and Rock (2004)

*Hauser and Latombe (2009)

Kang

20

3/25

Multi-modal planning

Hauser and Ng-Thow-Hing (2010)

Ankit

21

3/27

Contact mechanics

Bicchi (1993)

22

4/1

Grasping

Miller and Allen (1999)

David

23

4/3

Manipulation planning 2

Chang, Srinivasa, Pollard (2010)

Diankov et al (2008)

Lakshmi

24

4/8

Planning to sense

Gonzalez-Banos and Latombe (2002)

Arul

25

4/10

Tracking, learning, and detection

Planning under uncertainty

Kalal et al (2010)

Multhu

26

4/15

Sensorless planning

Goldberg (1998)

27

4/17

Markov decision proceesses

Alterovitz et al (2007)

28

4/22

Final project presentations

 

29

4/24

Final project presentations

 

 

Lab Assignments

Lab 1: Install RobotSim

Lab 2: Configuration space and SO(3)

Lab 3: Forward and inverse kinematics

Lab 4: Feedback control and trajectory control

Lab 5: Motion planning

Lab 6: Manipulation planning