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Robot Motion Planning

Workshop (sadna)thumb thumb

Spring 2022

0368-3535-01

Course hours: Wednesday, 14:00-16:00
Location: Dan David 205

Instructor: Dan Halperin, danha AT post tau ac il
Office hours by appointment

Teaching assistant: Dror Livnat (drorlivnat AT post tau ac il)

Software helpdesk: Michael Bilevich (michaelmoshe at mail tau ac il)

Projects: Following are a few projects. More details about all the projects, including video clips, appear in the table further below.

Writing on the Board   Drones Few Reads Localization Smooth Driving Waste Sorting
autonomous writing on the board Fly Ball few reads localization smooth driving waste sorting
Planning the motion of the Kinova arm to translate lesson plans into drawing on a board Bouncing a balloon using two drowns that play in turns, keeping the balloon in the air Estimating the location of a Robomaster robotic vehicle based on few distance measurements in a know environment Passing cargo in a known environment with obstacles as fast as possible without dropping it, using Robomaster robotic vehicle Sorting different types of waste using multi-arm UR5 setting in PyBullet simulation

General information: Motion planning algorithms compute collision-free motion paths for objects that move among obstacles.  They arise in robotics, graphical animation, surgical planning, navigation systems, computational biology and computer games, among other domains. In this workshop we will explore and apply algorithms for one of several robot systems. For example: (i) a fleet of blue robots that need to collect items in an environment cluttered with obstacles, while avoiding a fleet of red robots; (ii) two robot arms that need to carry out a joint task; (iii) drones that need to carry out a prescribed task while avoiding obstacles on their way as well as other drones. 

A typical project involves implementing motion planning algorithms for a robotic arm, an autonomous boat, a drone, or a Roomba like robot in simulation environment, or alternatively, implementing a similar task with physical robots. 


Class meetings

At the beginning of the workshop, the very basics of motion planning algorithms will be presented, and possible projects will be laid out. Below is the complete list of expected class meetings.

  • 23/2/22 - Introduction to robot motion planning + suggested projects 
  • 2/3/22 - More background, review of software tools 
  • 30/3/22 - Presentation of project plan
  • 1/6/22 - Presentation of POC (Location: Checkpoint building, room 380)
  • 7/9/22 - Presentation of the final project (Location: Checkpoint building, room 420)
Along the semester there will be separate/dedicated meetings with each team

References


Teamwork: The project is intended to involve a significant amount of teamwork. The recommended team size is three. Each team will choose a project among the list of projects, and submit the final project later in the summer.


Teams and Projects
Project Members Description Demonstration (click to view)
Dual Driving & Discovering Networks Roy Dvir Daniel Detecting obstacles and planning the movement accordingly Dual Driving
CoMotion Shai
Alon
Tomer
Simulations of a player in the CoMotoin game CoMotion
Self Localization in a Known Environment of a Physical Robot
Alon
Uri
Estimating the location of a Robomaster robotic vehicle based on distance measurements in a know environment
Auto Localization
Waste Sorting
Nir Z.
Shir
Omer
Sorting different kinds of waste
 Waste Sorting
Motion Planning of a Robotic Vehicle
Anastasia
Daniel
Planning the motion of a robotic vehicle chasing a moving target in a known environment under physical constraints (e.g., maximum speed, maximum acceleration, minimum rotation angle) in minimum time
 Dynamic Target Motion Planning
“Don’t Drop the Package” Autonomous Forklift Using a Physical Robot
Avigail
Inbar
Guy
Passing cargo in a known environment with obstacles as fast as possible without dropping it with a Robomaster robotic vehicle Comfort driving
Motion Planning of a Physical Robotic Arm
Eyal
Harel
Jonathan
Planning the motion of the Kinova arm to translate lesson plans into drawing on a board
Writing on the board
FlyBall
Efrat
Ori
Maya
Nir G.
Bouncing a ball using two drowns that play in turns, keeping the ball in the air
Flyball

Past workshop projects:

 
Paranoid Android
Drone project:
drone_proj_image
iRobot project:

Robots
Robotic boat
 
RoBoat project  


Related projects to stimulate ideas (not from the workshop):

 

Multi robot motion planning:
Dual arm rearrangement:
Mini Supertanker:
MiniSupertanker
 
 
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