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TU Berlin

Inhalt des Dokuments

Environment Design in Motion Planning

Thesis

Motivation

Exploiting the environment is useful to reduce robot state uncertainty due to very reliable force feedback. Therefore, we extended an RRT based motion planner with motion actions which allow the planner to make contact with the environment. This raised the importance of actual shape and availability of environment features to enable contacts. A first environment design algorithm has been developed that iteratively adds new environment features to a given scene. To do so, the algorithm detects and models areas of high uncertainty to then construct and place landmarks into the uncertain areas.

Lupe

Description of Work
The technical focus of this thesis can be discussed. You can either extend the existing environment design algorithm by  proposing alternative strategies for the main algorithmic steps:

  1. uncertain area detection
  2. modeling of the uncertain areas
  3. shaping environment features according to the areas
  4. placing environment features

Alternatively it is possible to develop an orthogonal algorithmic strategy. Furthermore, for the current designer to generate landmarks, it requires an exploration of the environment A theoretical analysis of the environment - e.g. medial axis could be used instead.

Requirements

Understanding of Robot motion planning algorithms. C++, Robotics Library

Reading Material
  • Paper on the human exploitation of the environment in grasping and the importance of it in grasp planning 
  • The Cerrt Planner [1,2]
People
Jessica Abele
Oliver Brock
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