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Hybrid Motion Planning

  • Introduction

    This workshop is part of the Software workshop course, instructed by Prof. Dan Halperin (http://acg.cs.tau.ac.il/courses/workshop/spring-2010/high-quality-motion-planning-for-robots).

    This workshop was done by two engineering students (Eran Zinman and Oded Telem), and was based on the "Hybrid Motion Planning:Coordinating Two Discs Moving Among Polygonal Obstacles in the Plane" publication by Prof. Dan Halperin and Shai Hirsch.

  • Documents

  • Results

    Here are some videos showing our solutions:
    • Passageway1 - This is the scene where our algorithm could not handle in the submission day, Now we give an easy solution!

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Passageway1 - zoom feature - In this video zoom feature is demonstrated. You may see robots motion near obstacles and robots more clearly and verify no-collusions.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Maze 1 - 2 robots in a maze, where there is only one place in the scene where robots can switch place.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Maze 2 - Like maze1, while we put an obstacle in the place the robots do the switching , making the switching area more dense.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Maze 3 - Like maze 1, while we put another robot, making all 3 robots change place. Is there a solution? How? (We will let the robots talk).

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Maze 4 - 4 robots in a short maze.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • 2 robots switching place - In this scene robots must switch place in a specific space they have got in the scene, for reaching the target point safely.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Build scenario scene (BuildScene1) - In this scene we show how build scenario is done, includes color changing, robots and obstacles creation and placement features.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Build scenario scene solution (BuildScene2) - Shows build scene solution - 2 robots with 4 obstacles.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • Convex Robots - 2 Convex robots in a hallway. require cooperation and maneuver.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • 3 robots example 1 - 3 robots must manipulate and move through 1 hallway for get to their target points.

      Play in Fullscreen (will play in Fullscreen on your browser)

    • 3 robots example 2 - 3 robots complex scene - require high precision coordination.

      Play in Fullscreen (will play in Fullscreen on your browser)

  • Developers


    Eran Zinman: eranzinm

    Oded Telem: odedtele

    All: AT post DOT tau DOT ac DOT il
Document Actions