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Whole-Body Collision-Free Motion Planning

Whole-Body Collision-Free Motion Planning. Brendan Burns Laboratory for Perceptual Robotics University of Massachusetts Amherst. Why motion planning?. The real world is complicated. Collisions are hazardous. Mobility. How to motion plan?. Configuration space is big! (exponential)

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Whole-Body Collision-Free Motion Planning

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  1. Whole-Body Collision-Free Motion Planning Brendan Burns Laboratory for Perceptual Robotics University of Massachusetts Amherst

  2. Why motion planning? The real world is complicated Collisions are hazardous Mobility

  3. How to motion plan? • Configuration space is big! (exponential) • Exact methods are intractable • Sampling-Based Planning (PRM)

  4. ? Probabilistic Roadmap Planning Kavraki & Overmars 1996

  5. 6 1 8 [1..5] [7..10] 2 10 3 8 5 [1..2] 4 [9..10] [4..5] 6 2 4 9 9 7 3

  6. Structure & Exploration • Identify the structure to expect • Acquire knowledge about structure • Exploit understanding as a guide

  7. Models

  8. Predictive Models

  9. Active Sampling

  10. Predictive Edge Checking • Edge checking is expensive • Our predictive model already exists • Construct a predictive roadmap

  11. Predictive Roadmaps

  12. Path Extraction

  13. Path Extraction

  14. Path Extraction

  15. Path Extraction

  16. Path Extraction

  17. Experiments

  18. 9-DOF

  19. 12-DOF

  20. Coming Soon…

  21. Stop

  22. Models

  23. Optimal Sampling

  24. Optimal Sampling ?

  25. Active Sampling

  26. Models • An approximate model of our current understanding • Predicts the state of unobserved configuration-space • Locally Weighted Regression (Atkeson et al.) • Others are possible

  27. Active Sampling • Our current understanding suggests areas of improvement • Sample to reduce maximize the expected reduction in model variance (Cohn et al.) • Direct sampling in proportion to complexity

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