CS 497: Algorithmic Motion Strategies


Fall 2001 TuTh 2:00-3:15 Room 149 English Bldg.
Registration: 1 unit, 08904 LECD SML

Instructor: Prof. Steve LaValle
2107 DCL, lavalle@cs.uiuc.edu

• Motivation Page
• Course policies, grading, etc.
• Office hours: Tu 11-12, Th 3:15-4:15, or whenever you can find me.

Notes: (written at about an advanced undergraduate level)

Topic	Dates	Links	Last Update
Introduction	Aug 23	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Geometric Representations and Transformations	Aug 28-30	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
The Configuration Space	Sep 4-Sep 18	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Incremental Search Methods	Sep 18-Sep 25	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Roadmap Methods	Sep 25	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Extensions of Basic Path Planning	Oct 2	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Differential Models	Oct 2-4	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Nonholonomic System Theory	Oct 4-9	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Nonholonomic Path Planning	Oct 9	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Feedback Motion Strategies	Not covered	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001
Uncertainty	Not covered	[html] - [postscript] - [pdf]	Thu Aug 30 10:52:16 CDT 2001

Related Papers:

• Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces, L. Kavraki, P. Svestka, J.-C. Latombe, and M. Overmars, IEEE Transactions on Robotics and Automation, 12(4), 1996, 566-580.

Presentation Schedule:

• Oct. 11: Shai Sachs, Quasi-Randomized Path Planning, Notes
• Oct. 16: Lana Lazebnik, Graphics: Motion Synthesis I, Slides
• Oct. 18: Steve Lindemann, Hierarchical Nonholonomic Planning
• Oct. 23: David Bunde, Pursuit-evasion Problems
Paper
• Oct. 25: Sang-Chul Lee, PRM Extensions I
• Oct. 30: Josh Chia, PRM Extensions II
• Nov. 1: Professor Francesco Bullo
• Nov. 6: Jonathan Wilson, Expansive C-space
• Nov. 8: Jeff Ellen, RRTs
• Nov. 13: Alejandro Sarmiento, Ariadne's Clew Algorithm
• Nov. 15: Aaron Trask, Real-time Trajectory Design
• Nov. 27: Lihua Zou, Drug Design
• Nov. 29: Hamidreza Chitsaz, Planning for Humanoids
• Dec. 4: Chad Cumby, Protein Folding
• Dec. 6: Jonathan Booth, Graphics II

Paper choices (in some cases, papers are grouped in pairs, to be presented together by one presenter):

• Path planning based on expansive C-space
  • Path planning in expansive configuration spaces. D. Hsu, J.-C. Latombe and R. Motwani. International Journal of Computational Geometry and Applications, 9(4 & 5), 495-512, 1999.
  • A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking. G. Sánchez and J.C. Latombe. Submitted to Int. Journal on Robotics Research (IJRR).
• PRM Extensions I
  • OBPRM: An Obstacle-Based PRM for 3D workspaces N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, D. Vallejo, in Robotics: The Algorithmic Perspective, P. K. Agarwal, L. E. Kavraki, M. T. Mason, Eds., A. K. Peters, Natick, MA, pages 339-350, 1998.
  • Visibility based probabilistic roadmaps for motion planning, T Simeon, J.-P. Laumond. and C. Nissoux. To appear in Advanced Robotics Journal 14(6) (2000)
• PRM Extensions II
  • Motion Planning for a Rigid Body Using Random Networks on the Medial Axis of the Free Space, Steven A. Wilmarth, Nancy M. Amato, Peter F. Stiller, Proceedings of the 15th Annual ACM Symposium on Computational Geometry (SoCG'99), June 1999, pp. 173-180. SoCG'99.
  • A Lazy Probabilistic Roadmap Planner for Single Query Path Planning, R. Bohlin and L. Kavraki, 2000.
• Ariadne's clew algorithm
  • The Ariadne's Clew Algorithm, E. Mazer, J. M. Ahuctzin, P. Bessiere, Journal of Artificial Intelligence Research, 9 (1998) 295-316
• Rapidly-exploring Random Trees
  • Rapidly-Exploring Random Trees: Progress and Prospects by Steven M. LaValle and James J. Kuffner, Jr., 2000 Workshop on the Algorithmic Foundations of Robotics.
  • Randomized Kinodynamic Planning by Steven M. LaValle and James J. Kuffner, Jr., International Journal of Robotics Research, V. 20, N. 5, pp. 379-400, May 2001.
• Protein Folding
  • Using Motion Planning to Study Protein Folding Pathways, Guang Song and Nancy M. Amato, Proceedings the 5th International Conference on Computational Molecular Biology (RECOMB), April 2001, pp. 287-296.
• Drug Design
  • A Randomized Kinematics-Based Approach to Pharmacophore-Constrained Conformational Search and Database Screening by Steven M. LaValle, Paul W. Finn, Lydia E. Kavraki, and Jean-Claude Latombe, Journal of Computational Chemisty, Vol. 21, No. 9., pages 731-747, 2000.
• Hierarchical nonholonomic planning
  • Multi-level path planning for nonholonomic robots using semi-holonomic subsystems by S. Sekhavat, P. Svestka, J.-P. Laumond, M.H. Overmars. International Journal of Robotics Research, Vol.17, N 8, pp.840-857, 1998.
• Sensor-based exploration
  • Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph Howie Choset and Joel Burdick The International Journal of Robotics Research 19, no. 2 (2000): 96-125.
  • Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard, Joel Burdick The International Journal of Robotics Research 19, no. 2 (2000): 126-148
• Planning for humanoids
  • Dynamically-stable motion planning for humanoid robots, J.J. Kuffner, S.Kagami, M. Inaba, and H. Inoue. In Proc. of 1st Int. Conf. on Humanoid Robotics (Humanoids'00), Boston, MA, September 2000
• Quasi-randomized path planning
  • Quasi-Randomized Path Planning, by Michael S. Branicky and Steven M. LaValle and Kari Olson and Libo Yang, in Proc. 2001 IEEE International Conference on Robotics and Automation.
  • Path planning in practice: Lazy evaluation on a multi-resolution grid R. Bohlin, to appear, Proc. International Conf. on Intell. Robots and Systems, Maui, Hawaii, USA, 2001.
• Real-time trajectory design for helicopters, etc.
  • Real-time motion planning for agile autonomous vehicles, AIAA Journal of Guidance and Control, E. Frazzoli, M. A. Dahleh, E. Feron.
• Graphics: Motion Synthesis I
  • Efficient Generation of Motion Transitions Using Space-Time Constraints, B. Guenter, C. F. Rose, B. Bodenheimer, M. Cohen, SIGGRAPH 96
  • Interactive Manipulation of Rigid Body Simulations. Jovan Popovic, Steven M. Seitz, Michael Erdmann, Zoran Popovic, and Andrew Witkin. In Computer Graphics (Proceedings of SIGGRAPH 2000), Annual Conference Series. ACM SIGGRAPH 2000
• Graphics: Motion Synthesis II
  • A Search Algorithm for Planning Dynamic Motions, Computer Animation and Simulation '96 -- Proceedings of the 7th Eurographics Workshop on Simulation and Animation, Springer Verlag. Poitiers, France, 1996, 169-182.
  • A Grasp-based Motion Planning Algorithm for Intelligent Character Animation M. Kalisiak, M. van de Panne, Eurographics Workshop on Computer Animation and Simulation, 2000

This is the first version which does not use LEDA. There may be a few bugs relating to the new classes and GUIs that were constructed in this version.

• The Motion Strategy Library
• Old Class Projects

• The RRT Page (Iowa State University)
• MOtion for LOGistics (LAAS/CNRS, Utrecht, EDF, and Cadcentre)
• Move3D (LAAS/CNRS, Toulouse, France)
• Physical Computing Group (Rice University)
• Dynamic Spatial Modeling for Tomorrow (Texas A&M University)
• SHARP (INRIA Rhone-Alpes, France)
• Library of Kinematic Models for Manipulators (Universität Karlsruhe, Germany)
• Nonholonomic planning (UC Berkeley; U. Michigan)
• Game-theoretic motion planning(U. Illinois)
• Target tracking (Stanford)
• Pursuit-evasion (Stanford)
• Vehicle navigation (CMU)
• Dynamic Simulation (UC Berkeley)
• Automatic Movie Generation (The Motion Factory)
• Wheelchair motion animation (Stanford)
• RAPID, V-COLLIDE, I-COLLIDE Collision Detection Packages (U. North Carolina)
• V-Clip Collision Detection Package (Mitsubishi Electric Research Lab)
• Time-Critical Collision Detection (Cornell)
• Level Set Methods (UC Berkeley)