Motion Planning with Constraints: from Applications to General Solution Frameworks

机器人和人类增强程序建议#：308237标题：带约束的运动规划：从应用到通用解决方案框架PI：Kavraki，LydiaWilliam Marsh Rice Unive本项目的研究重点是研究现代运动规划前沿的两组问题。这些是利用运动学约束进行规划，以及使用高维可重新参数化机器人进行规划，这些机器人具有由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。该项目的核心是开发基于随机抽样算法的通用解决方案框架，用于探索这些高维状态空间，以及关于如何选择相关参数的性能衡量标准和指南。为了在研究基本问题和专门应用之间取得健康的平衡，已经确定了具有代表性的问题。对于运动学规划，将研究轨道交会问题，即某个轨道上的机器人航天器与不同轨道上的空间站对接。对于有物理约束的规划，将研究打结问题。该项目植根于运动规划，但融合了控制论、随机算法、计算几何、几何建模和图形学以及复杂性理论的概念。该项目更广泛的影响部分通过以下方式实施：(A)向工业、政府和生物医学研究实验室转让技术的计划；(B)莱斯大学的课程开发，包括本科生机器人学和理论课程；(C)本科生、研究生和博士后的培训、指导和参与研究活动；(D)指导计算机科学的女本科生；以及(E)参与国家科学基金会资助的莱斯大学和休斯顿独立学区旨在吸引高中女生进入工程学领域的计划。

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.