1. Union Robotics Systems and Automation Laboratory Motion Planning in the Real World Brendan Burns Union College

2. Union Robotics Systems and Automation Laboratory Motion Planning Many degrees of freedom Global planning Sampling-based planning “Always on” system  Responsive to user requests  Productive use of “down” time

3. Union Robotics Systems and Automation Laboratory Real World No model of the environment Knowledge from sensors Dynamic obstacles Implications:  Uncertainty  Sensor feedback

4. Union Robotics Systems and Automation Laboratory Sense-Plan-Act Loop Utility-Guided Planning Robot Sensing ? Movement Request Sensor-Directed Request

5. Union Robotics Systems and Automation Laboratory Sensing

6. Union Robotics Systems and Automation Laboratory Sensing : Voxel Space

7. Union Robotics Systems and Automation Laboratory Sensing: Occlusion

8. Union Robotics Systems and Automation Laboratory Sensing: Uncertainty

9. Union Robotics Systems and Automation Laboratory Example

10. Union Robotics Systems and Automation Laboratory Utility-Guided Planning for Uncertain Environments Modified PRM Planning  Defer roadmap construction  Search using A* Use planning to guide sensing Act when certainty is above threshold

11. Union Robotics Systems and Automation Laboratory Example

12. Union Robotics Systems and Automation Laboratory Example

13. Union Robotics Systems and Automation Laboratory Example

14. Union Robotics Systems and Automation Laboratory Example

15. Union Robotics Systems and Automation Laboratory Planning perceptions

16. Union Robotics Systems and Automation Laboratory Example

17. Union Robotics Systems and Automation Laboratory Open Questions/Challenges Integrate sensing while moving Sensor fusion Assess sensor uncertainty Evaluate performance