Robot autonomy delves into the interplay between perception, manipulation, navigation, and learning required to develop fully autonomous systems. We will focus on application domains like the home, retail, and healthcare and identify common themes and key bottlenecks. We will discuss the state of the art algorithms, their computational and hardware requirements, and their limitations. An end-to-end system often requires mixing and matching various algorithms and you will learn some tried and true methods for making systematic decisions. Students will learn how to address clutter and uncertainty in manipulation tasks, develop robust object recognition algorithms in real-world scenes, navigate safely in human spaces, and build behavior engines for high-level tasks, among many other topics.
February 18 - project proposals due
April 1 - project midterm reports due
April 24 - final presentations 1,2,3
April 29 - final presentations 4,5,6
May 1 - final presentations 7,8,9
May 1 - last day of class
May 10 - final presentation and video due
May 16 - grades due
|Towers of Hanoi||Darukhanavala, Lycas, Mittal, Suresh|
|The Tick-bot||Hussain, Zhang, Joseph, Chanda|
|HERB the Builder||Hamm, Komoroski, Roberts, Viola|
|Shooting hoops||Bajaj, Hu, Kumar, Thomas|
|Picasso-bot||Coyne, Rao, Subramanian|
This schedule is an approximate plan, and is subject to change during the semester.
|M||14 Jan||Introduction||Installation Instructions Out||OpenRAVE. URL||Notes|
|W||16 Jan||Grasping - Pipeline and Theory||
Chapter 5 Multifingered Hand Kinematics, A Mathematical Introduction to Robotic Manipulation, Murray, Li, Sastry, 1994.
The condition for contact grasp stability, Montana, ICRA 1991. PDF
|M||21 Jan||No class - MLK Day||HW0 Out|
|W||23 Jan||TA Lecture: OpenRAVE and Python||Notes|
|M||28 Jan||Grasping - Quality metrics||HW0 Due
Grasp quality measures,
Suarez et al, 2006.
Handey: A robot system that recognizes, plans, and manipulates, Lozano-Perez et al, ICRA 1987. PDF
Automatic Grasp Planning Using Shape Primitives, Miller et al, ICRA 2003. PDF
Scribing Video Tutorial
|W||30 Jan||Grasp tables and practice||
Analysis of Multifingered Hands, Kerr and Roth, IJRR 1986.
Task-Oriented Optimal Grasping by Multifingered Robot Hands, Li and Sastry, 1988. PDF
Knowledge-Based Prehension: Capturing Human Dexterity, Iberall et al., 1988. PDF
Data-driven grasping, Goldfeder and Allen, 2011. PDF
|M||4 Feb||Motion planning and configuration space||Spatial Planning: A Configuration Space Approach, Lozano-Perez, 1980. PDF||Notes|
|W||6 Feb||Configuration space obstacles||
Real-Time Configuration Space Transforms for Obstacle Avoidance, Newman and Branicky, 1991.
Computation of Configuration-Space Obstacles Using the Fast Fourier Transform, Kavraki, 1995 PDF
|M||11 Feb||Discrete search algorithms||HW1 Due||Notes|
|W||13 Feb||Guest lecture: Mike Phillips: Heuristics in Search||
Search-based Planning for Dual-arm Manipulation with Upright Orientation Constraints, Cohen, Chitta, and Likhachev, 2012.
E-Graphs: Bootstrapping Planning with Experience Graphs, Phillips, Cohen, Chitta, and Likhachev, 2012. PDF
Planning for Manipulation with Adaptive Motion Primitives, Cohen, Subramanian, Chitta, and Likhachev, 2011. PDF
ARA*: Anytime A* with Provable Bounds on Sub-Optimality, Likhachev, Gordon, and Thrun, 2003. PDF
|M||18 Feb||Project Proposal Due|
|W||20 Feb||Joint space planning and Jacobian control||
A Singularly Valuable Decomposition: The SVD of a Matrix, Kalman 2002.
An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels PDF
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments PDF
Singularity-Robust Task-Priority Redundancy Resolution for Real-Time Kinematic Control of Robot Manipulators PDF
|M||25 Feb||Probabilistic roadmaps||
Analysis of Probabilistic Roadmaps for Path Planning,
Kavraki, Kolountzakis, and Latombe, 1998.
The Gaussian sampling strategy for probabilistic roadmap planners, Boor Etal 1999. PDF
A Randomized Algorithm for Robot Path Planning Based on Lazy Evaluation, Bohlin Etal 2001. PDF
On the Relationship Between Classical Grid Search and Probabilistic Roadmaps, Lavalle Etal 2010. PDF
|W||27 Feb||Rapidly-exploring random trees||HW3 Out||RRT-Connect: An Efficient Approach to Single-Query Path Planning, Kuffner and Lavalle, 1999. PDF||Notes|
|M||4 Mar||Guest lecture: Mehmet Dogar: Physics-based manipulation||HW2 Due||
Push-Grasping with Dexterous Hands: Mechanics and a Method, Dogar and Srinivasa, 2010.
A Framework for Push-grasping in Clutter, Dogar and Srinivasa, 2011. PDF
|W||6 Mar||Guest lecture: Shervin Javdani: Tactile Localization||Notes|
|M||11 Mar||No class: Spring break|
|W||13 Mar||No class: Spring break|
|M||18 Mar||Constrained Motion Planning||Task Space Regions: A Framework for Pose-Constrained Manipulation Planning, Berenson Etal 2011. PDF||Notes|
|W||20 Mar||Planning in Cost Spaces||
Approaches for Heuristically Biasing RRT Growth,
Urmson and Simmons, 2003.
Anytime RRTs, Ferguson and Stentz, 2006. PDF
|M||25 Mar||Navigation planning||HW3 Due
|W||27 Mar||Guest lecture: Carl Wellington: Obstacle avoidance||Notes|
|M||1 Apr||Perception for manipulation - sensors||Project Midterm Report Due||Notes|
|W||3 Apr||World models||Notes|
|M||8 Apr||3D Perception||Notes|
|W||10 Apr||Guest lecture: Moslem Kazemi: Compliant control and grasping||Notes|
|M||15 Apr||Object recognition and registration||Notes|
|W||17 Apr||Guest lecture: Illah Nourbakhsh: HRI Principles||HW4 Due||
Winograd's SHRDLU URL.
Durrell Bishop Marble Answer Machine Video.
|M||22 Apr||HRI Application: Human-Robot Handovers||Notes|
|W||24 Apr||Class presentations||Notes|
|M||29 Apr||Class presentations||Notes|
|W||1 May||Class presentations||Notes|