Nonholonomic Motion Planning (The Springer International Series in Engineering and Computer Science)


Many different things we do as computer scientists involve doing things that will be viewed and interpreted by people.

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In this talk, I will discuss how we have been applying ideas from perceptual science to two very different areas: I will describe how we have been developing an understanding of the visual system's abilities to see aggregate properties like average value and applying this knowledge to design new information presentations. I will also describe methods for applying machine learning technologies to simplify data so that it is easier to comprehend. I will describe how the knowledge and techniques of perceptual science is influencing our work in character animation.

Specifically, I will describe our efforts to understand how subtle aspects of movement can be controlled to create communicative effects. I will show examples about how virtual agents move their eyes, and discuss our work to apply these same ideas to robots. I will also introduce a new effort to consider robot arm motion. Gleicher is founder of the Department's Computer Graphics group.

His research interests span the range of visual computing, including data visualization, image and video processing tools, virtual reality, and character animation techniques for films, games and robotics. Prior to joining the university, Prof. He earned his Ph. At the end of his course "Robotics and motion generation", Nicolas Mansard showed his students the execution of motions on HRP Presentation of the research project Behaviors.

See more about PAL Robotics. This year, the team workshop was honoured by the presence of several invited guests. Two days of intensive scientific exchanges in the center town of Toulouse. See all the pictures. The work presented in this thesis is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programming of complex robotics systems. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion control and planning.

The methodology comes from the well-known robotics concepts: The originality of the work is to consider the task as the unifying concept both to describe the motion and to control its execution. This thesis deals with the development and study of algorithms for planning optimal motions for anthropomorphic systems, which are underactuated and highly redundant systems, such as humanoid robots and digital actors. This thesis presents my research activities on real-time vision-based behaviors for complex robots such as humanoids Visit of PAL Robotics.

Four hours of class about new compliant actuators are scheduled on the mornings of Monday Dec 10 and Tuesday Dec 11, and a seminar on Monday Dec 10 at 4PM. New compliant actuators for the next generation of human-friendly robots with enhanced capabilities. This thesis title is "Numerical Optimization for robotics and closed-loop trajectory execution". The presented work is divided into two parts. In the first one, an unified computer representation for numerical optimization problems is proposed.

This model allows to define problems independently from the algorithm used to solve it. This unified model is particularly interesting in robotics where exact solutions are difficult to find. The second part is dealing with complex trajectory execution on humanoid robots with sensor feedback. When a biped robots walks, contact points often slip producing a drift which is necessary to compensate. We propose here a closed-loop control scheme allowing the use of sensor feedback to cancel execution errors.

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To finish, a method for the the development of complex robotics application is detailed. This thesis contributions have been implemented on the HRP-2 humanoid robot. The new Gepetto web site is now open. All the sections are not fill up yet, but new data will keep coming. To be added soon: The lecture will last one hour. The robot will execute seven demonstrations. The video of the lecture will be available online shortly after the lecture. The group has been founded by the ANR for the call "Numerical Models", to study the motion of deformable objects, like cables.

He did is master with us, supervised by L. Saab, obtaining very nice results on the animation of the robot dynamics, and them was the leading developper on the Novela event. His topic is about applying the results obtained in simulation or replayed in open loop by the robot, on a real rigorous close-loop manner.

On saturday evening, the robot will be demonstrated in a modern dance event. The choregraphy has been designed by the artis Tayeb Benamara, that will danse with the robot during 20 minutes, on the rythmics of the DJ EnjeB.

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The lectures will be announced on the web site of the chair. They are free and open to all publics. The videos of the lectures will then be available on the same web site. A gradient-based path optimization method for motion planning.

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Advanced Robotics, 30 Optimization as motion selection principle in robot action. Communications of the ACM, 58 5: Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches. The International Journal of Robotics Research, 34 Maintaining strong mutual visibility of an evader moving over the reduced visibility graph.

Autonomous Robots, 40 2: Walking Paths to and from a Goal Differ: PloS one, 10 4: Optimality in Robot Motion: Optimal Versus Optimized Motion. Communication of the ACM, 57 9: The International Journal of Robotics Research, 32 Planning foot placements for a humanoid robot: International Journal of Robotics Research, 30 4 , Linear dimensionality reduction in random motion planning.

International Journal of Robotics Research, 30 Autonomous Robots, 31 4 , Time Parameterization of Humanoid-Robot Paths. Swept volume approximation of polygon soups. Advanced Robotics, 24 4 , Story validation and approximate path inference with a sparse network of heterogeneous sensors. Sufficient conditions for the existence of resolution complete planning algorithms.

Learning combinatorial map information from permutations of landmarks. International Journal of Robotics Research , 30 9: Generating uniform incremental grids on SO 3 using the Hopf fibration. International Journal of Robotics Research , 29 7 , Searching and mapping among indistinguishable convex obstacles. Probabilistic shadow information spaces. Filtering and planning in information spaces.

Measuring and ensuring path diversity. An intensity-based bug algorithm. Simple and efficient algorithms for computing smooth, collision-free feedback laws over given cell decompositions. International Journal of Robotics Research , 28 5: Khatib, editors, Springer Handbook of Robotics. Exact Pareto optimal coordination of two translating polygonal robots on a cyclic roadmap.

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Improving the performance of sampling-based motion planning with symmetry-based gap reduction. Tracking hidden agents through shadow information spaces. Probabilistic localization with a blind robot. Motion planning for highly constrained spaces. On comparing the power of robots. International Journal of Robotics Research , 27 1: Clocks, chronometers, and open-loop control. Time-optimal paths for a Dubins airplane. Minimum wheel-rotation paths for differential drive mobile robots among piecewise smooth obstacles. Distance-optimal navigation in an unknown environment without sensing distances.

Tovar, R Murrieta-Cid, and S. Sloppy motors, flaky sensors, and virtual dirt: Comparing imperfect, ill-informed robots. Smooth feedback for car-like vehicles in polygonal environments. Learning combinatorial information from alignments of landmarks. Mapping and navigation from permutations of landmarks. Extracting visibility information by following walls. Lopez-Ortiz, editors, Dagstuhl Seminar Proceedings Using a robot to learn geometric information from permutations of landmarks.

In Contemporary Mathematics , volume , pages American Mathematical Society, Localization with limited sensing. Improving motion planning algorithms by efficient nearest-neighbor searching. Nonpositive curvature and pareto-optimal coordination of robots. Clearing a polygon with two 1-searchers.

International Journal of Computational Geometry and Applications , 19 1 , Algorithms for planning under uncertainty in prediction and sensing. In Autonomous Mobile Robots: Sensing, Control, Decision-Making, and Applications. Visibility-based pursuit-evasion with bounded speed. Real time feedback control for nonholonomic mobile robots with obstacles. An explicit characterizaton of minimum wheel-rotation paths for differential-drives. On comparing the power of mobile robots. Computing smooth feedback plans over cylindrical algebraic decompositions.

Global localization using odometry. A multiresolution approach for motion planning under differential constraints. Minimum wheel-rotation paths for differential-drive mobile robots.

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Nonholonomic Motion Planning grew out of the workshop that took place at the The Springer International Series in Engineering and Computer Science. Nonholonomic Motion Planning (The Springer International Series in Engineering and Computer Science) - Kindle edition by Zexiang Li, J.F. Canny. Download.

Simple robots solving complex tasks. Smoothly blending vector fields for global robot navigation. Efficient exploration by controlling the sampling domain. Computing Pareto Optimal Coordinations on Roadmaps.

Robot Motion Planning The Springer International Series in Engineering and Computer Science

International Journal of Robotics Research , 24 Adaptive tuning of the sampling domain for dynamic-domain RRTs. Information spaces for mobile robots. Pursuit-evasion in an unknown environment using gap navigation trees. On the relationship between classical grid search and probabilistic roadmaps. The sampling-based neighborhood graph: A framework for planning and executing feedback motion strategies. Visibility-based pursuit-evasion in an unknown planar environment.

International Journal of Robotics Research , 23 1: Steps toward derandomizing RRTs. Deterministic sampling methods for spheres and SO 3. Improving the performance of sampling-based planners by using a symmetry-exploiting gap reduction algorithm. Pareto-optimal coordination of two translating polygonal robots on an acyclic roadmap. Incrementally reducing dispersion by increasing Voronoi bias in RRTs. Pareto optimal coordination on roadmaps. A minimal representation for visibility-based tasks.

Incremental grid sampling strategies in robotics. Optimal navigation and object finding without geometric maps or localization. Current issues in sampling-based motion planning. Chatila, editors, Robotics Research: The Eleventh International Symposium , pages Locally-optimal navigation in multiply-connected environments without geometric maps. Exploiting group symmetries to improve precision in kinodynamic and nonholonomic planning. Incremental low-discrepancy lattice methods for motion planning.

Hutchinson, editors, Algorithmic Foundations of Robotics. From dynamic programming to RRTs: Algorithmic design of feasible trajectories. Prattichizzo, editors, Control Problems in Robotics , pages Pointers to quasi-monte carlo literature. University of Illinois, December , [pdf]. Efficient nearest neighbor searching for motion planning. Resolution complete rapidly-exploring random trees. An improved random neighborhood graph approach. A complete pursuit-evasion algorithm for two pursuers using beam detection.

An algorithm for searching a polygonal region with a flashlight. International Journal of Computational Geometry and Applications , 12 Reducing metric sensitivity in randomized trajectory design. RRT-based trajectory design for autonomous automobiles and spacecraft.