Motion Planning with Constraints: from Applications to General Solution Frameworks

机器人和人类增强程序摘要提案号：308237标题：运动规划与约束：从应用程序到一般解决方案框架PI：Kavraki，LydiaWilliam Marsh Rice UnivThe研究重点的这个项目是在现代运动规划的前沿两组问题的研究。这些规划与kinodynamic的约束和规划高维reparameterizable机器人的底层物理系统的能量施加的复杂约束。这两组问题都定义了高维状态空间。在其核心，该项目将开发基于随机抽样算法的一般解决方案框架，用于探索这些高维状态空间以及如何选择相关参数的性能指标和指南。为了在研究基本问题和专业应用之间取得健康的平衡，已经确定了代表性问题。对于运动动力学规划，将研究轨道会合问题，其中在某些轨道上的机器人空间飞行器与在不同轨道上的空间站对接。对于具有物理限制的规划，将研究打结。拟议的项目是植根于运动规划，但结合了控制理论，随机算法，计算几何，几何建模和图形，复杂性理论的概念。 该项目影响更广泛的部分是通过以下方式实施的：（a）向工业、政府和生物医学研究实验室转让技术的计划，（B）在莱斯大学制定涉及本科生机器人技术和理论课程的课程，（c）对本科生、研究生和博士后进行培训、指导和参与研究活动，（d）指导计算机科学方面的女本科生，以及（e）参与莱斯大学和休斯顿独立学区的NSF资助计划，其目标是吸引高中女生进入工程领域。

Robotics and Human Augmentation ProgramABSTRACTProposal #: 308237Title: Motion Planning with Constraints: from Applications to General Solution FrameworksPI: Kavraki, LydiaWilliam Marsh Rice UnivThe research focus of this project is the study of two sets of problems at the frontiers of modern motion planning. These are planning with kinodynamic constraints and planning with high dimensional reparameterizable robots with complex constraints imposed by the energetics of an underlying physical system. Both sets of problems define high dimensional state spaces. At its core, the project will develop general solution frameworks based on randomized sampling algorithms for the exploration of these high dimensional state spaces together with performance measures and guidelines on how to choose relevant parameters. To obtain a healthy balance between studying fundamental issues and specialized applications, representative probems have been identified. For kinodynamic planning, the orbital rendezvous problem will be studied, where a robot space vehicle in some orbit docks with a space station in a different orbit. For planning with physical constraints, knot tying will be investigated. The proposed project is rooted in motion planning but incorporates concepts from control theory, radomized algorithms, computational geometry, geometric modeling and graphics, and complexity theory. The broader impact part of the project is implemented through (a) plans for technology transfer to industrial, government and biomedical research laboratories, (b) curriculum development at Rice University involving undergraduate robotics and theory courses, (c) training, mentoring and involvement in research activities of undergraduate, graduate and postdoctoral students, (d) mentoring of women undergraduate students in computer science, and (e) participation in an NSF funded program of Rice University and the Houston Independent School District whose goal is to attract high school girls to engineering fields.