CS 326 A: Motion Planning

1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Instructor: Jean-Claude Latombe Teaching Assistant: Itay Lotan Computer Science Department Stanford University

2. 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

3. Fundamental Question Are two given points connected by a path?

4. 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

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

6. Is It Easy?

7. Example with Articulated Object

8. Example with Articulated Object

9. Tool: Configuration Space • Problems: • Geometric complexity • Space dimensionality

10. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

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

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

13. Autonomous Helicopter [Feron, 2000] (AA Dept., MIT)

14. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

15. Dynamic Unpredictable Environment

16. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

17. Assembly Planning

18. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

19. Map Building Where to move next?

20. Target Tracking

21. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

22. Planning for Nonholonomic Robots

23. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

24. Planning with Uncertainty in Sensing and Control W2 I G W1

25. Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Nonholonomic constraints Dynamic constraints Optimal planning Uncertainty in control and sensing Exploiting task mechanics (sensorless motions) Physical models and deformable objects Integration of planning and control Some Extensions of Basic Problem

26. Motion Planning for Deformable Objects [Kavraki, 1999]

27. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

28. Robot Programming

29. Robot Placement

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

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

32. Video

33. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

34. Design for Manufacturing/Servicing General Motors General Motors General Electric

35. Assembly Planning and Design of Manufacturing Systems

36. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

37. Military Scouting and Planet Exploration

38. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

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

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

41. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

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

43. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

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

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

46. 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 Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification Examples of Applications

47. Building Code Verification

48. Goals of CS326A • Present a coherent framework for motion planning problems: • configuration space and related spaces • random sampling and criticality-based decomposition algorithms • Emphasis of “practical” algorithms with some guarantees of performance over “theoretical” or purely “heuristic” algorithms

49. Framework Continuous representation (configuration space formulation) Discretization (random sampling, criticality-based decomposition) Graph searching (blind, best-first, A*)

50. Goals of CS326A • Present a coherent framework for motion planning problems: • configuration space and related spaces • random sampling and criticality-based decomposition algorithms • Emphasis of “practical” algorithms with some guarantees of performance over “theoretical” or purely “heuristic” algorithms