Course Search, Navigate, and Actuate
"Zoeken, Sturen en Bewegen"
This is the information of year 2016.
The current information of the course can be found here.
In 2015 Arnoud Visser was also responsible for this course, the site
can be found here.
In 2013 and 2014 the course was coordinated by Toto van Inge. His site could be found here.
The experiments of the last week are listed on a separate page.
Description
The official description of course baiZSB6 can be found (in Dutch)
here.
The organization of the course can be found in the Studiewijzer.
Also a Blackboard portal to this information is available. Blackboard is mainly used for email and grading.
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
 alphabeta 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 selfparking 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 (coordinatefree)
 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
 DenavitHartenberg 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 the data on datanose.nl.
Week 22
Download Lecturnity Player to listen to lecture,
synchronized with the sheets.
Search
Week 23
Navigate
Week 24
Actuate
date

time

type

subject

location

lecturer/assistant




TO BE UPDATED 



P7 
Task 3: Inverse kinematics module 




P8 
Task 3: Inverse kinematics module 



Experiment0 
Brainstorming next week 

Arnoud Visser 


P9 
Task 3: Inverse kinematics module 




Pres 
demonstration and integration
Task 2 and 3 


Week 25
Go, where no one has gone before.
date

time

type

subject

location

lecturer/assistant

Monday 20/6 
9.0012.00 
Experiment1 
KickOff 
C3.165 / A1.10 / B1.24F / B0.201 
Arnoud Visser 
Monday 20/6 
12.0017.00 
ZS 

C3.165 
no assistance 
Tuesday 21/6 
9.0017.00 
ZS 

C3.165 
Kyriacos Shiarlis 
Wednesday 22/6 
9.0012.00 
Experiment2 
MidTerm 
C3.165 / G0.24 / G0.19 / G0.12 
Arnoud Visser 
Wednesday 23/6 
12.0017.00 
ZS 

C3.165 
no assistance 
Thursday 23/6 
9.0017.00 
ZS 

C3.165 
Kyriacos Shiarlis 
Friday 24/6 
9:0017.00 
Experiment3 
Demonstration and Documentation 
C3.165 / A1.10 / A1.06 / B1.24GHIJ 
Arnoud Visser, Kyriacos Shiarlis 

Friday 24/6 
from 17.00 
Experiment4 
Barbecue & Flux Festival 
near cantine 
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.
Here are the surveys of the previous years:
 the surveys of the 2015 students, see Experiment2015
 the surveys of the 2014 students, see Experiment2014
 the surveys of the 2013 students, see Experiment2013
 the surveys of the 2012 students, see Experiment2012
 the surveys of the 2011 students, see Experiment2011
 the surveys of the 2010 students, see Experiment2010
 the surveys of the 2009 students, see Experiment2009
 the surveys of the 2008 students, see Experiment2008
 the surveys of the 2007 students, see Experiment2007
 the surveys of the 2006 students, see Experiment2006
 the surveys of the 2005 students, see Experiment2005
 the surveys of the 2004 students, see Experiment2004
Here are some suggestions:
 Pathplanning for a Hemissonrobot
 Talking mouth for a Aiborobot
 Maze navigation with a Naorobot
 Looking to a talking person with a Naorobot.
 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)
 WiiBot RTX UMI
 Solve chess endgame with Monte Carlo tree search (MCTS)
 Hacking the Neato XV11
 Programming the Concept Wheels of Ramon Lull.
It is recommanded to work in groups of four students.
You will be evaluated on your LabBook at the end of
the week.
Evaluation
In 2016 the course was overall evaluated by the participants with a 4.5, due to the problems with the virtual machine:
.
Literature
For the implementation in prolog we will look at chapter 24 of
Prolog Programming for Artificial Intelligence by
Ivan Bratko. The companion website of the 4th edition is not yet available, the companion website of the 3th edition contains several student resources.
This book was explored until chapter 13 in the previous course Logic Programming and Search Techniques.
Further we use the syllabus 'An Introduction to Robotics' by Leo Dorst,
which is available for download at the Blackboard 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 May 18, 2017
This webpage ist of participants to this course is maintained by
Faculty
of Science
University of Amsterdam