Workshop (Sadna)
Lecture: Wednesday 17–19, Dan Daviv 212
Instructor: Dan Halperin, [email protected]
Office hours: Wednesday, 16–17, Schreiber 114
The assignment in this workshop is to plan the motion of two robots moving in an environment cluttered with obstacles. The planning algorithms will be simulated and displayed graphically as well as downloaded to and experimented with the robots in our laboratory.
The following two books contain useful material for the workshop:
- J.-C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991
- M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, Computational Geometry: Algorithms and Applications, Springer, 1997 [link]
There will be choice with regard to the emphasis of the project (with or without actual robots).
The following articles can help those who do the project without robots. The general scheme for coordinating the motion of two discs is described in:
- Coordinated motion planning for two independent robots
M. Sharir and S. Sifrony, Annals of Mathematics and Artificial Intelligence 3 (1991), pages 107–130
Some of the details necessary to compute FPij in the case of discs appear in:
- On the “piano movers” problem III: coordinating the motion of several independent bodies: the special case of circular bodies moving amidst polygonal barriers
J. T. Schwartz and M. Sharir, International Journal of Robotics Research 2 (1983), pages 46–75
Both papers will be available for copying at the meeting with Iddo Hanniel at the robotics lab on Wednesday 05/05
The submission of the project is in two steps:
- 1. July 11th, 1999: prototype and its user manual
- 2. August 31st, 1999: submission of the full project, including full user manual and programming guide