CENG786 - Robot Motion Planning and Control
Projects
Scope:
The term project for this course involves the design and
implementation of a motion planner for a specific robotic domain. Both
the domain and the algorithm will be of your own choice. However, the
domain needs to be sufficiently rich to exercise your understanding of
how to apply various techniques from the course to the problem at
hand. If the problem can be trivially solved with a straightforward
application of a simple search algorithm or a visibility planner, it
would not be appropriate. Either the domain itself, or the algorithm
that you propose must have nontrivial aspects that are worth your
effort implementing it as a term project.
Some examples of reasonable projects could include the following:
- Motion planning in 3D for a mobile robot with nontrivial shape in a cluttered environment,
- Algorithms and implementations related to the localization of a robot, combined with some sort of motion planning incorporated,
- Motion planning under dynamical constraints. How would you plan motions of a heavy airplane in a cluttered airspace?
- Visual servoing. This refers to controlling the motion of a robot using vision as a sensor for the robot's configuration
These are, of course, just starting points for your own ideas. You
should go through various reading lists on motion planning as well as
books referenced from the course web page for further ideas. Since we
do not have very many robots to play with in Bilkent, your project
will most likely be in simulation. However, if you do have a robot you
can use, feel free to propose it as part of your project. It does not
have to be a very sophisticated robot, but it should have sufficient
sensing to make it relevant to the algorithm you are planning to
implement.
Logistics:
Projects can be done either alone or groups of two. You will need to
determine your project groups by the proposal deadline. Your group
members will do the final presentation and demo together but you will
be evaluated individually and both of you are expected to have
extensive knowledge of the project topic and implementation.
Timeline:
| Deadline |
Milestone |
| TBD |
Submission of one to three one-page project proposals |
| TBD |
Paper presentations - Session I |
| TBD |
Paper presentations - Session II |
| TBD |
Submission of final project reports |
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saranli@ceng,
Uluç Saranlı
The overall design of this web page was inspired by similar pages by
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