1. CS 326 A: Motion Planning robotics.stanford.edu/~latombe/cs326/2003/index.htm Jean-Claude Latombe Computer Science Department Stanford University

3. Half-Dome, NW Face, Summer of 2010 … Tim Bretl

4. Goal of Motion Planning Compute motion strategies, e.g.: –geometric paths –time-parameterized trajectories –sequence of sensor-based motion commands To achieve high-level goals, e.g.: –go to A without colliding with obstacles –assemble product P –build map of environment E –find object O

5. Fundamental Question Are two given points connected by a path? Valid region Forbidden region

6. Basic Problem Statement: Compute a collision-free path for a rigid or articulated object (the robot) among static obstacles Inputs: –Geometry of robot and obstacles –Kinematics of robot (degrees of freedom) –Initial and goal robot configurations (placements) Output: –Continuous sequence of collision-free robot configurations connecting the initial and goal configurations

7. Examples with Rigid Object  Ladder problem Piano-mover problem 

8. Is It Easy?

9. Example with Articulated Object

10. Tool: Configuration Space

11. Compare! Valid region Forbidden region

12. Tool: Configuration Space Problems: Geometric complexity Space dimensionality

13. Some Extensions of Basic Problem Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing –Model building –Object finding/tracking –Inspection Nonholonomic constraints Dynamic constraints Stability constraints Optimal planning Uncertainty in model, control and sensing Exploiting task mechanics (sensorless motions, under- actualted systems) Physical models and deformable objects Integration of planning and control Integration with higher- level planning

14. Aerospace Robotics Lab Robot air bearing gas tank air thrusters obstacles robot

15. Total duration : 40 sec Two concurrent planning goals: Reach the goal Reach a safe region

16. Autonomous Helicopter [Feron] (MIT)

17. Dynamic Unpredictable Environment

18. Assembly Planning

19. Map Building Where to move next?

20. Target Finding

21. Target Tracking

22. Planning for Nonholonomic Robots

23. Under-Actuated Systems video [Lynch] (Northwestern)

24. Planning with Uncertainty in Sensing and Control I G W1W1W1W1 W2W2W2W2

25. Motion Planning for Deformable Objects [Kavraki] (Rice)

26. Examples of Applications Manufacturing: –Robot programming –Robot placement –Design of part feeders Design for manufacturing and servicing Design of pipe layouts and cable harnesses Autonomous mobile robots planetary exploration, surveillance, military scouting Graphic animation of “digital actors” for video games, movies, and webpages Virtual walkthru Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification

27. Robot Programming

28. Robot Placement

29. Design for Manufacturing/Servicing General Electric General Motors

30. Assembly Planning and Design of Manufacturing Systems

31. Part Feeding

33. Cable Harness/ Pipe design

34. Humanoid Robot [Kuffner and Inoue, 2000] (U. Tokyo)

35. Modular Reconfigurable Robots Xerox, Parc Casal and Yim, 1999

37. Military Scouting and Planet Exploration [CMU, NASA]

38. Digital Actors A Bug’s Life (Pixar/Disney) Toy Story (Pixar/Disney) Tomb Raider 3 (Eidos Interactive)Final Fantasy VIII (SquareOne)The Legend of Zelda (Nintendo) Antz (Dreamworks)

39. Motion Planning for Digital Actors Manipulation Sensory-based locomotion

40. Navigation Through Virtual Environments [Cheng-Chin U., UNC, Utrecht U.] video

41. Building Code Verification

42. Radiosurgical Planning Cross-firing at a tumor while sparing healthy critical tissue

43. Study of the Motion of Bio-Molecules Protein folding Ligand binding

44. Study of the Motion of Bio-Molecules Protein folding Ligand binding

45. Goals of CS326A  Present a coherent framework for motion planning problems  Emphasis of “practical” algorithms with some guarantees of performance over “theoretical” or purely “heuristic” algorithms

46. Framework Continuous representation (configuration space and related space + constraints) Discretization (random sampling, criticality-based decomposition) Graph searching (blind, best-first, A*)

47. Practical Algorithms (1/2) A complete motion planner always returns a solution plan when one exists and indicates that no such plan exists otherwise. Most motion planning problems are hard, meaning that complete planners take exponential time in # of degrees of freedom, objects, etc.

48. Practical Algorithms (2/2) Theoretical algorithms strive for completeness and minimal worst-case complexity. Difficult to implement and not robust. Heuristic algorithms strive for efficiency in commonly encountered situations. Usually no performance guarantee.  Weaker completeness  Simplifying assumptions  Exponential algorithms that work in practice

49. Prerequisites for CS326A Ability and willingness to complete a significant programming project with graphic interface. Basic knowledge and taste for geometry and algorithms. Interest in devoting reasonable time each week in reading papers.

50. CS326A is not a course in … Differential Geometry and Topology Kinematics and Dynamics Geometric Modeling … but it makes use of knowledge from all these areas

51. Website and Schedule robotics.stanford.edu/~latombe/cs326/2003/index.htm Day#Topic April 21Course overview April 72Configuration space and basic motion planning techniques April 93Collision detection 1/2 -- Hierarchical methods April 144Collision detection 2/2 – Feature-based methods April 165Probabilistic roadmaps 1/3 -- Basic techniques April 216Probabilistic roadmaps 2/3 -- Sampling strategies April 237Probabilistic roadmaps 3/3 – Sampling strategies April 288Coordination of multiple robots April 309Motion of crowds and flocks May 510Navigation through virtual environments May 711Kinodynamic planning and under-actuated systems 1/2 May 1212Kinodynamic planning and under-actuated systems 1/2 May 1413Humanoids, legged robots, and digital actors 1/2 May 1914Humanoids, legged robots, and digital actors 2/2 May 2115Assembly planning May 26-Memorial Day -- NO CLASS May 2816Exploring and inspecting environments June 217Molecular motions / Surgical planning / Conclusion

52. Work to Do A.Attend every class B.Prepare/give two presentations with ppt slides (20 minutes each) C.For each class read the two papers listed as “required reading” in advance D.Complete the programming project E.Complete two homework assignments

53. Programming Project Navigate in virtual environment Simulate legged robot Inspection of structures Search and escape