Robot Motion Planning, Workshop, Fall 2023

Workshop (sadna)

Fall 2023

Course hours: Wednesday, 14:00-16:00RoboMasterUR5-hannoi

Location: Check Point 180

Instructor: Dan Halperin, [email protected]
Office hours by appointment

Teaching assistant: Dror Livnat ([email protected])
Software helpdesk: Michael Bilevich (michaelmoshe at mail tau ac il)

Projects: 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) an industrial collaborative robotic arm (UR5e) playing Jenga or Rush-hour, or even writing on the board and erasing it, etc. (ii) a desk  top robotic arm (myCobot 320) using chopsticks (iii) an autonomous vehicle (RoboMaster) mapping and/or navigating the floor (iv) 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, a drone, or a mobile robot in the real world.

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.

  • 18/10/23 – Introduction to robot motion planning + suggested projects
  • 25/10/23 – More background, review of software tools
  • 15/11/23 – Presentation of project plan
  • 20/12/23 – Presentation of POC
  • TBD – Presentation of the final project
Along the semester there will be separate/dedicated meetings with each team

The project is intended to involve a significant amount of teamwork. The recommended team size is three. Each team will design a project together with the course staff, develop it along the semester and the exams’ break, and submit it at a TBD date.

Bibliography: click here

Projects: Following are a few past projects.

Writing on the Board
Writing on the Board
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
Few Reads Localization
Estimating the location of a Robomaster robotic vehicle based on few distance measurements in a know environment
Smooth Driving
Passing cargo in a known environment with obstacles as fast as possible without dropping it, using Robomaster robotic vehicle
Waste Sorting
Sorting different types of waste using multi-arm UR5 setting in PyBullet simulation




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