CSCE 774 - Robotic Systems - Fall 2008

University of South Carolina

Instructor: Jason O'Kane

Tuesdays and Thursdays, 3:30-4:45pm, 2A19 Swearingen

About this course

This class is an introduction to some of the current research in robotics. Specifically, we will focus on planning algorithms, that is, computational approaches that robots can use to plan their future actions. After completing this course, you should be able to understand, critique, design, and implement planning algorithms for robots.

The format will mix lectures by the instructor and student-led discussions of important or interesting published research papers in the field.

Documents

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Paper List

Access to these papers requires a password that will be given in class.
Number Paper Reading Presenter Date
1 Localization with limited sensing. J. M. O'Kane and S. M. LaValle. IEEE Transactions on Robotics, 23(4):704-716, August 2007. [pdf] 11.5.4 Josh van Buren Sep 16
2 Parts Orienting with Shape Uncertainty. S. Akella and M. T. Mason. ICRA 1998. [pdf]
Parts Orienting with Partial Sensor Information. S. Akella and M. T. Mason. ICRA 1998. [pdf] 		Bill Arndt Sep 18
No Class Sep 23
3 Passive mobile robot localization within a fixed beacon field. C. Detweiler, J. Leonard, D. Rus and S. Teller, WAFR 2006. [pdf] Michael Kroll Sep 25
4 Near-optimal search in continuous domains. S. Ieong, N. Lambert, Y. Shoahm, and R. Brafman. AAAI 2007. [pdf] Jeremiah Shepherd Sep 30
5 Landmark-Based Robot Navigation. A. Lazanas and J.-C. Latombe. Algorithmica 13(5):472-501, 1995. [pdf] 12.5.1 Shaun Gause Oct 2
6 Planning Time-Minimal Safe Paths amidst Unpredictably Moving Obstacles. J. van den Berg and Mark Overmars. IJRR, to appear. 2008. [pdf] Kimberly Yonce Oct 7
Fall Break Oct 9
7 A Framework for Planning Feedback Motion Strategies Based on a Random Neighborhood Graph. L. Yang and S. LaValle. ICRA 2000. [pdf]
An Improved Random Neighborhood Graph Approach. L. Yang and S. LaValle. ICRA 2002. [pdf] 		8.5.1 Yuliya Olmo Oct 14
8 A Visibility-Based Pursuit-Evasion Problem. L. J. Guibas, J.-C. Latombe, S. M. LaValle, D. Lin, and R. Motwani. International Journal of Computational Geometry and Applications 9(5):471-494, 1999. [pdf] 12.4 Matthew Hielsberg Oct 16
9 Stealth Tracking of an Unpredictable Target among Obstacles. T. Bandyopadhyay, Y. Li, M. H. Ang Jr., and D. Hsu. WAFR 2004. [pdf] Jeff Barton Oct 21
10 On the value of ignorance: Balancing tracking and privacy using a two-bit sensor. J. M. O'Kane. Unpublished manuscript. [pdf] Ryan Yandle Oct 23
11 Tracking Hidden Agents Through Shadow Information Spaces. J. Yu and S. M. LaValle. ICRA 2008. [pdf] Laura Baucom Oct 28
12 Maintaining Visibility of a Moving Target at a Fixed Distance: The Case of Bounded Observer Speed. R. Murrieta, A. Sarmiento, S. Bhattacharya, and S. A. Hutchinson. ICRA 2004. [pdf] 12.4 Chase Gray Oct 30
Election Day Nov 4
13 Robotic Exploration as Graph Construction G. Dudek, M. Jenkin, E. Milios, and D. Wilkes. IEEE Transactions on Robotics and Automation, 7(6):859-865. 1991. [pdf]
Topological Mapping with Weak Sensory Data. G. Dudek and D. Marinakis. AAAI 2007. [pdf] 		James O'Reilly Nov 6
14 Topological Mapping with Sensing-Limited Robots. W. Huang and K. R. Beevers. WAFR 2004. [pdf] Boris Kurktchiev Nov 11
15 Topological Mapping through Distributed, Passive Sensors. D. Marinakis and G. Dudek. IJCAI 2007. [pdf] Mikhail Simin Nov 13
16 Distance-optimal navigation in an unknown environment without sensing distances. B. Tovar, R Murrieta, and S. M. LaValle. IEEE Transactions on Robotics, 23(3):506-518, June 2007. [pdf] 12.3.4 Chuan Qin Nov 18
17 Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry. S. Suri, E. Vicari, and P. Widmayer. [pdf] Giola Bottai Nov 20
18 On Comparing the Power of Robots. J. M. O'Kane and S. M. LaValle. IJRR, 27(1):5-23, January 2008. [pdf] 11.2 Habib Moukalled Nov 25
Thanksgiving Break Nov 27
19 Simple Robots in Polygonal Environments: A Hierarchy. J. Brunner, M. Mihalak, S. Suri, E. Vicari, and P. Widmayer. Algorithmic Aspects of Wireless Sensor Networks. 2008. [pdf] Jingsong Wang Dec 2
Wrap up Dec 4

Not Selected

An Exploration of Sensorless Manipulation. M. A. Erdmann and M. T. Mason. IEEE Journal of Robotics and Automation, 4(4):369-379. 1988. [pdf] 12.5.2
Randomized Algorithms for Minimum Distance Localization. M. Rao, G. Dudek, and S. Whitesides. WAFR 2004. [pdf] 12.2.2
Randomization for Robot Tasks: Using Dynamic Programming in the Space of Knowledge States. M. Erdmann. Algorithmica 10:248-291. 1993. [pdf]
TangentBug: A Range-Sensor-Based Navigation Algorithm. I. Kamon, E. Rimon, and E. Rivlin. IJRR 17(9):934-953. 1998. [pdf] 12.3.3