Howie Choset, Carnegie Mellon ( motionplanning )

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Transcript of Howie Choset, Carnegie Mellon ( motionplanning )

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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J. Qu, Iowa State University (http://msl.cs.uiuc.edu/rrt/

gallery_trailer.html)Wheelchair-Accessible Design Assistant (http://eil.stanford.edu/xpan/motion_planning/index.html)

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High-Level Behaviors for Autonomous Animated Characters (http://www.kuffner.org/james/anim/behaviors.php)

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Motion Planning for Humanoid Robots (http://www.kuffner.org/james/humanoid/)

Self-Collision Detection (http://www.kuffner.org/james/humanoid/)

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Motion Planning for Flexible Needles(http://www.eecs.berkeley.edu/Research/Projects/

2008/105298.html)

X. Tang Parasol Lab, Texas A&M University (http://parasol.tamu.edu/~xinyut/)

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(B.V. Adorno, 2008)

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(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)

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Repulsão Atração Resultante

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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2

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(H. Safadi, 2007), McGill University, (http://www.cs.mcgill.ca/~hsafad/robotics/index.html)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

Métodos AlternativosMet. Newton;Met. Gauss-Newton;Levenberg-Marquadt;Simulated Annealing ….

Métodos AlternativosMet. Newton;Met. Gauss-Newton;Levenberg-Marquadt;Simulated Annealing ….

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)

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(N. Amato, 2004), Course from University of Padova (http://parasol.tamu.edu/people/amato/Courses/padova04/)

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(N. Amato, 2004), Course from University of Padova, (http://parasol.tamu.edu/people/amato/Courses/padova04/)

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Quina dos Obstáculos

Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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(B.V. Adorno, 2008)

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(N. Amato, 2004), Course from University of Padova, (http://parasol.tamu.edu/people/amato/Courses/padova04/)

Ao Redor Obstáculos

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qk-1

qk

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qk-1

qk

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qk-1

qk

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(B.V. Adorno, 2008)

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(B.V. Adorno, 2008)

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(B.V. Adorno, 2008)

Distribuição gaussiana Distribuição polarizada

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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(http://www.kuffner.org/james/plan/algorithm.php)(http://www.kuffner.org/james/plan/examples.php)

(http://msl.cs.uiuc.edu/rrt/about.html)

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The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)

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The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)

James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)

Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)

James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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Howie Choset, Carnegie Mellon (http://www.cs.cmu.edu/~motionplanning)

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The RRT Page (http://msl.cs.uiuc.edu/rrt/gallery.html)

James Kuffner (http://www.kuffner.org/james/plan/algorithm.php)

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Ao que interessa!

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Obrigado!

University of Brasilia – UnB