The course consists of lectures followed by an exam, and of a lab course
followed by demonstration of what you have done; the grades for these
form the final grade, in a ratio 2:1 (so
The lab assistents are Matthijs Spaan
mtjspaan@science.uva.nl
and TBA
tba@science.uva.nl.
You should register with Matthijs.
If you do not yet have an account at the UvA, please request one from
support@science.uva.nl.
THE LAB COURSE STARTS APRIL 17, 2003, 13:00 IN P1.26 (IN EUCLIDES, Plantage
Muidergracht 24). It would be efficient if you find a practicum
partner before that time and mail Matthijs your choice, then we
can start immediately.
Contents
We use lecture notes, available from the Dikatenverkoop (check the
opening times, they are weird). Try yo get the lab manual at the same time!
You have had planning algorithms such as A*
that work on graphs. So let's try to reformulate the path planning
problem as a graph problem. These graphs are somewhat special, it
is convenient to see them as discretized spaces because this leads to
better implementations. So then we need the notion of configuration
space to explain the graph's properties.
If you have setpoints, how to make it into a controllable path.
Where and when
All events take place in the Euclides building, Plantage Muidergracht 24.
The lectures are given in the 3rd trimester, in P227, Fridays 9:15-11:00.
The lab course is on Thursday afternoons, 12:30-16:30, P126.
datum
plaats
type
inhoud
10/4
P0
geen practicum
11/4
P227
H1
pad plannen: Cspace
17/4
P126
P1
introductie oefeningen
18/4
geen college
24/4
P126
P2
high path
25/4
P227
C2
pad plannen: structuur
1/5
geen practicum
2/5
geen college
8/5
P126
P3
path to garbage
9/5
A.B
C3
pad plannen: algorithmiek
15/5
geen practicum
16/5
P227
C4
rotaties en homogene coördinaten
22/5
P126
P4
low path
23/5
P227
C5
kinematica: Denavit Hartenberg
29/5
geen practicum
30/5
geen college
5/6
P126
P5
low path
6/6
geen college
12/6
P126
P6
kinematica
13/6
P227
C6
inverse kinematica
19/6
P126
P7
inverse kinematica
20/6
P227
C7
differentiële kinematica; oefententamen
26/6
P126
P8
integratie en demonstratie
Lab Course
The lab course is programming a chess-playing robot, with
exercises in path planning and kinematics. It is done in groups on
two students. The manual is
available at the
home page for the lab course, which is
http://science.uva.nl/~mtjspaan/practicum/index_en.html.
Tentamens
Wat je moet weten: de leerlijst.
UITSLAGEN 2003
UITSLAGEN H1 2003
UITSLAGEN H2 2003
Informatie
College:
Leo Dorst
Praktikum:
Matthijs Spaan.