Course Search, Navigate, and Actuate

"Zoeken, Sturen en Bewegen"

This is the information of year 2007

The site of the previous year 2006 can be found here.

Description

The official description of course baiZSB6 can be found (in Dutch) here. Also a Blackboard portal to this information is available.

Contents

  • Search Algorithms
    Game playing is an example of type of problems that can easily decomposed in subproblems. For interesting games, like chess, the tree of subproblems grows to fast to be searched exhaustively, so other approaches are necessary. To solve the game we have to find a solution tree regardless of the opponent's replies.
    • MiniMax principle
    • alpha-beta algorithm
    • increasing the effectiveness with advice rules

  • Path planning
    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.
    • A* revisited
    • Mapping path planning as graph search
    • Task space and discretized configuration space
    • Kinematics -> connectivity
    • Criteria -> metric
    • Obstacles -> forbidden nodes
    • Examples: robot arm and self-parking car
    • Other approaches of mapping path planning into graphs

  • Trajectory planning
    If you have setpoints, how to make it into a controllable path.

  • Rigid body motion
    • physical rigid bodies as idealization
    • physical space as vector space
    • representing motions using linear algebra (coordinate-free)
    • isometries
    • proof of decomposition theorem: rigid body motion = rotation followed by translation
    • coordinates: vector spaces in the computer
    • rotation matrices: how to design them
    • reference angles: Euler angles
    • homogeneous coordinates

  • Kinematics of linked mechanisms
    • Denavit-Hartenberg notation
    • Forward kinematics
    • Inverse kinematics (briefly)
    • Redundancy and degeneracy (briefly)
    • Differential kinematics

Schedule

This schedule has some correspondance with the official schedule, but in case of doubt use this page as reference. And forget in the official schedule anything related to Prof. Dr. J.J. Boon :-).

Week 23

Search
date time type subject location lecturer/assistant
Monday 4/6 10.00-10.15 SCR1 Course Overview
Lecture(pdf 454 Kb)
P1.26 Arnoud Visser
Monday 4/6 10.15-12.00 SCR2 Searching through Game Trees - minimax and alpha-beta(pdf 355 Kb) P1.26 Arnoud Visser
Monday 4/6 13.00-14.30 SCR3 Searching through Game Trees - Advice Language (pdf 226 Kb)
(follow_strategy.pl), (advice.pl)
P1.26 Arnoud Visser
Tuesday 5/6 10.00-12.30 P1 Task 1: Endgames P1.26 Martijn Liem
Tuesday 5/6 13.00-15.00 L1 Qualitative Navigation
Lecture (pdf 1.1 Mb)
Distinctive Place Movie (88 Mb)
Visual Homing Movie (15 Mb)
P0.18 Arnoud Visser
Tuesday 5/6 15.30-17.00 ZS Task 1: Endgames P1.26 no assistance
Wednesday 6/6 10.00-12.30 P2 Task 1: Endgames P1.26 Martijn Liem
Wednesday 6/6 13.00-15.00 L2 Quantative Navigation
Lecture (pdf 473 Kb)
P0.18 Arnoud Visser
Wednesday 6/6 15.30-17.00 ZS Task 1: Endgames P1.26 no assistance
Thursday 7/6 10.00-12.30 P3 Task 1: Endgames P1.26 Martijn Liem
Thursday 7/6 13.00-17.00 ZS Task 1: Endgames P1.26 no assistance
Friday 8/6 10.00-12.30 P4 Task 1: Endgames P1.26 Martijn Liem
Friday 8/6 13.00-17.00 ZS Task 1: Endgames P1.26 no assistance

Week 24

Navigate
date time type subject location lecturer/assistant
Monday 11/6 10.00-12.30 Pres demonstration solution Task 1: Endgames P1.26 Martijn Liem
Monday 11/6 13.00-14.30 L3 path planning: algorithms P0.18 Leo Dorst
Monday 11/6 15.00-17.00 P5 Task 2: Path planning module Instruction P1.26 Olaf Booij
Tuesday 12/6 10.00-12.30 P6 Task 2: Path planning module P1.26 Olaf Booij
Tuesday 12/6 13.00-14.30 L4 rotations en homogeneous coördinates P0.18 Leo Dorst
Tuesday 12/6 15.30-17.00 ZS Task 2: Path planning module P1.26 no assistance
Wednesday 13/6 10.30-21.00 Pres Symposium Ambient Inteligence Orpheus, Apeldoorn voorverkoop
(tot 6 juni korting)
Thursday 14/6 10.00-12.30 ZS Task 2: Path planning module P1.26 no assistance
Thursday 14/6 13.00-14.30 L5 kinematics: Denavit Hartenberg P0.18 Leo Dorst
Thursday 14/6 15.00-17.00 ZS Task 2: Path planning module P1.26 no assistance
Friday 15/6 10.00-12.30 P7 Task 2: Path planning module P1.26 Olaf Booij
Friday 15/6 13.00-14.30 L6 inverse kinematics P0.18 Leo Dorst
Friday 15/6 15.00-17.00 ZS Task 2: Path planning module P1.26 no assistance

Week 25

Actuate
date time type subject location lecturer/assistant
Monday 18/6 10.00-12.30 P8 Task 3: Inverse kinematics module P1.26 Olaf Booij
Tuesday 19/6 10.00-12.30 P9 Task 3: Inverse kinematics module P1.26 Olaf Booij
Wednesday 20/6 10.00-12.30 P10 Task 3: Inverse kinematics module P1.26 Olaf Booij
Thursday 21/6 10.00-12.30 ZS Task 3: Inverse kinematics module P1.26 no assistance
Friday 22/6 10.00-16.00 Pres integration and demonstration Task 2 and 3 P1.26 Olaf Booij

Week 26

Go, where no one has gone before.
-->
date time type subject location lecturer/assistant
Monday 25/6 10.00-12.00 Experiment1 Kick-Off P1.26 Arnoud Visser
Wednesday 27/6 10.00-12.00 Experiment2 Mid-Term P1.26 Arnoud Visser
Friday 29/6 10.20-14.40 Experiment3 Demonstration and Documentation P1.26 Arnoud Visser schedule
Friday 29/6 from 15.00 Experiment4 Barbecue binnenplaats Diamandslijperij VIA
Friday 29/6 from 22.00 Experiment5 Lustrum Feest Catacomben VIA

It is not the result that counts, but your summery of your survey. Document your progress, experiments and decisions in a LabBook.

With a working system, and the acquired knowledge, you can explore new possibilities. The list of surveys of this year can be found in separate directory Experiment2007.

Here are the surveys of previous years:

Here are some other suggestions:
  • Path-planning for a Hemisson-robot
  • Path-planning for a Aibo-robot
  • Extend the checkmate problem to more complex situations
  • Refine the visualisation of the Virtual robot.
  • Creating a gamepad interface for a virtual Aibo (Visual Basic)
It is recommanded to work in groups of three students.

You will be evaluated on your LabBook at the end of the week.

Results

The results can be found here.

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Evaluation

The course was overall evaluated by the participants with a 8.25.

Literature


For the implementation in prolog we will look at chapter 22 of Prolog Programming for Artificial Intelligence by Ivan Bratko.
This book was explored until chapter 13 in the previous course Logic Programming and Search Techniques.


We continue with the second part of Introduction to AI Robotics by Robin Murphy: Navigation.
Part I book was explored in the previous course Reactive Behaviours.
The University of Tennessee has a course that is also based on this textbook.

Further we use the syllabus 'An Introduction to Robotics' by Leo Dorst and a lab manual. The syllabus available from the Dikatenverkoop (check the opening times at the VIA-site).


Inheritance

In the old days, when Bachelors were not schooled at Dutch Universities, a different course was given with another focus. Still, much can be learned from the course 'Robotica'.


Last updated 26 June 2007

o This web-page and the list of participants to this course is maintained by Arnoud Visser (arnoud@science.uva.nl)
Faculty of Science
University of Amsterdam

visitors in arnoud@science.uva.nl