מדעים מדויקים 0368-4010-01 רובוטיקה אלגורתמית ותכנון תנועה Algorithmic Robotics and Motion Planning שנה"ל תש"ף | סמ' א' | פרופ הלפרין דן
סילבוס מפורט/דף מידע
The last decade has seen an outburst of new robotic applications and robot designs in medicine, entertainment, security and manufacturing to mention just a few areas. Novel applications require ever more sophisticated algorithms. In the course, we shall cover computational and algorithmic aspects of robotics with an emphasis on motion planning.
The motion-planning problem is a key problem in robotics. The goal is to plan a valid motion path for a robot (or any other mobile object for that matter) within a given environment, while avoiding collision with obstacles. The scope of the motion-planning problem is not restricted to robotics, and it arises naturally in different and diverse domains, including molecular biology, computer graphics, computer-aided design and industrial automation. Moreover, techniques that were originally developed to solve motion-planning problems have often found manifold applications.
The topics that will be covered include (as time permits): A brief tour of algorithmic problems in robotics The configuration space approach and the connection between motion planning and geometric arrangements Minkowski sums; exact and efficient solution to translational motion planning in the plane Translation and rotation in the plane; translational motion of polyhedra in space Collision detection Sampling-based motion planning Coordinating the motion of multiple robots Path quality: shortest paths, high clearance paths, and other quality measures Direct and inverse kinematics: from industrial manipulators to proteins Dynamic maintenance of large kinematics structures Algorithmic automation I: sensorless manipulation design Algorithmic automation II: assembly planning