1. 1 CS26N: Motion Planning for Robots, Digital Actors, and Other Moving Objects Jean-Claude Latombe latombe@cs.stanford.edu ai.stanford.edu/~latombe/ Winter 2012 latombe@cs.stanford.edu ai.stanford.edu/~latombe/ http://ai.stanford.edu/~latombe/cs26n/2012/home.htm

2. 2 Motion planning is the ability for an agent to compute its own motions in order to achieve certain goals. All autonomous robots and digital actors should eventually have this ability

3. 3 Piano Mover’s Problem What is a path? a trajectory? What are the constraints?

4. 4 What are the motion constraints?

5. 5 Why is this example difficult?

6. 6

7. 7

8. 8

9. 9 PlanMoveSense

10. 10 ARL Robot Goal

11. 11

12. 12 PlanMoveSense Learn Motion library

13. 13 PlanMoveSense Learn Motion library

14. 14 Goal of Motion Planning Compute motion strategies, e.g.: –geometric paths –time-parameterized trajectories –sequence of sensor-based motion commands To achieve high-level goals, e.g.: –go to A without colliding with obstacles –assemble product P –build map of environment E –find object O

15. 15 Fundamental Question Are two given points connected by a path? Valid region Forbidden region

16. 16 Fundamental Question Are two given points connected by a path? Valid region Forbidden region E.g.: ▪Collision with obstacle ▪Lack of visibility of an object ▪Lack of stability

17. 17 Is It Easy?

18. 18 Tool: Configuration Space Problems: Geometric complexity Space dimensionality

19. 19 Continuous space Discretization Search C-space Sampling-basedCriticality-based

20. 20 Many Variants Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing –Model building –Object finding/tracking –Inspection Nonholonomic constraints Dynamic constraints Stability constraints Optimal planning Uncertainty in model, control and sensing Exploiting task mechanics (sensorless motions, under- actualted systems) Physical models and deformable objects Integration of planning and control Integration with higher- level planning

21. 21 Some Applications

22. 22 Humanoid Robots HRP-2, AIST, Japan

23. 23 Lunar Vehicle (ATHLETE, NASA/JPL)

24. 24 Climbing Robot

25. 25 Modular Reconfigurable Robots

26. 26

27. 27 Dexterous Manipulation

28. 28 Manipulation of Deformable Objects Topologically defined goals

29. 29 Digital Characters A Bug’s Life (Pixar/Disney) Toy Story (Pixar/Disney) Tomb Raider 3 (Eidos Interactive)Final Fantasy VIII (SquareOne)The Legend of Zelda (Nintendo) Antz (Dreamworks)

30. 30 Digital Characters

31. 31 Animation of Crowds

32. 32

33. 33 Design for Manufacturing and Servicing

34. 34 Design for Manufacturing and Servicing

35. 35 Design for Manufacturing and Servicing

36. 36 Cable Harness/ Pipe design

37. 37 Map Building Where to move next?

38. 38 Navigation Through Virtual Environments

39. 39 Virtual Angiography / Bronchoscopy / Colonoscopy

40. 40 Radiosurgical Planning CyberKnife (Accuray)

41. 41 Building Code Verification 9-inch turning radius24-inch turning radius

42. 42 Egress Simulation Primary escape route Secondary escape route Potential congesting areas

43. 43 Transportation of A380 Fuselage through Small Villages Kineo

44. 44 Study of Motion of Bio-Molecules

45. 45 Study of Motion of Bio-Molecules Inhibitor binding to HIV protease

46. 46 http://ai.stanford.edu/~latombe/cs26n/2012/home.htm