Configuration Space companion slides for the blackboard lecture - PowerPoint PPT Presentation

Aug 31, 2022 •220 likes •268 views

Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Configuration Space companion slides for the blackboard lecture C-obstacles when rotations are involved for a polygonal robot free to translate and rotate on the plane grow and stack

Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Configuration Space companion slides for the blackboard lecture
C-obstacles when rotations are involved for a polygonal robot free to translate and rotate on the plane “grow and stack” Oriolo: Autonomous and Mobile Robotics - Configuration Space: Companion slides 2
C-obstacles when rotations are involved for a 2R planar manipulator, scene 1 disjoint workspace obstacles may merge in C-space Oriolo: Autonomous and Mobile Robotics - Configuration Space: Companion slides 3
C-obstacles when rotations are involved for a 2R planar manipulator, scene 2 the free configuration space may be disconnected Oriolo: Autonomous and Mobile Robotics - Configuration Space: Companion slides 4

Download Presentation

Download Policy: The content available on the website is offered to you 'AS IS' for your personal information and use only. It cannot be commercialized, licensed, or distributed on other websites without prior consent from the author. To download a presentation, simply click this link. If you encounter any difficulties during the download process, it's possible that the publisher has removed the file from their server.

Recommend

Configuration Space II Sung-Eui Yoon ( ) Course URL:

Configuration Space II Sung-Eui Yoon ( ) Course URL: http://sglab.kaist.ac.kr/~sungeui/MPA Class Objectives Configuration space Definitions and examples Obstacles Paths Metrics 2 Configuration Space

618 views • 30 slides

C Configuration Space II fi ti S II Sung-Eui Yoon ( ) ( ) C Course URL:

C Configuration Space II fi ti S II Sung-Eui Yoon ( ) ( ) C Course URL: URL http://sglab.kaist.ac.kr/~sungeui/MPA Class Objectives Class Objectives Configuration space Configuration space Definitions and

373 views • 35 slides

Configuration Space Configuration Space NUS CS 5247 David Hsu What is a path? 2 Rough idea

Configuration Space Configuration Space NUS CS 5247 David Hsu What is a path? 2 Rough idea Convert rigid robots, articulated robots, etc. into points Apply algorithms for moving points 3 Mapping from the workspace to the

1.17k views • 28 slides

Configuration space How do you reach toward something without colliding with obstacles in the

Configuration space How do you reach toward something without colliding with obstacles in the environment? need to understand configuration space to do this! Obstacle! Problem we want to solve Given: description of the robot arm (the

437 views • 24 slides

? 1 1/31/2012 Every robot maps to a point in Every robot maps to a point in its configuration

1/31/2012 Idea: Reduce the Robot to a Point Configuration Space of an Configuration Space Articulated Robot Free space Two-Revolute-Joint Robot A configuration of a robot q 2 is a list of non-redundant parameters that fully q 2

279 views • 8 slides

Last lecture Configuration Space Free-Space and C-Space Obstacles Minkowski Sums 1

Last lecture Configuration Space Free-Space and C-Space Obstacles Minkowski Sums 1 Free-Space and C-Space Obstacle How do we know whether a configuration is in the free space? Computing an explicit representation of the free-

430 views • 42 slides

Configuration spaces: combinatorics, topology, and physics Triangle lectures in combinatorics

Configuration spaces: combinatorics, topology, and physics Triangle lectures in combinatorics Wake Forest University Matthew Kahle (OSU) Configuration spaces February 9, 2013 Configuration space The configuration space of n labelled points in

528 views • 52 slides

Configuration management Configuration management Configuration management Configuration

Configuration management Configuration management Configuration management Configuration management Configuration management Field of management that focuses on establishing and maintaining consistency of a systems attributes

647 views • 6 slides

Lecture 8: Space Complexity I Arijit Bishnu 18.03.2010 Space Bounded Computation Configuration

Space Bounded Computation Configuration Graphs Some Space Complexity Classes PSPACE completeness Lecture 8: Space Complexity I Arijit Bishnu 18.03.2010 Space Bounded Computation Configuration Graphs Some Space Complexity Classes PSPACE

1.19k views • 79 slides

Augeas a configuration API Raphal Pinson Configuration Management Sitewide configuration

Augeas a configuration API Raphal Pinson Configuration Management Sitewide configuration Local configuration Editing of Configuration Data (1) Keyhole approaches (2) Greenfield approaches (3) Templating Missing pieces Handle

831 views • 61 slides

M C Q S T Motivation Configuration space of N spin- 1 Q N = { 1 , 1 } N 2 : Random Energy

Phase Transition in the Quantum Random Energy Model Simone Warzel Venice Quantissima in the Serenissima III August 23, 2019 M C Q S T Motivation Configuration space of N spin- 1 Q N = { 1 , 1 } N 2 : Random Energy Model Derrida

327 views • 15 slides

ON CONFIGURATION SPACE INTEGRAL OF SMOOTH SPHERE BUNDLES Tadayuki WATANABE RIMS, Kyoto

ON CONFIGURATION SPACE INTEGRAL OF SMOOTH SPHERE BUNDLES Tadayuki WATANABE RIMS, Kyoto University Apr. 02, 2008 Aarhus, CTQM Workshop Finite Type Invariants, Fat graphs and Torelli-Johnson-Morita Theory 1 1. INTRODUCTION FUNDAMENTAL

713 views • 40 slides

CS440/ECE448 Lecture 8: Configuration Space Mark Hasegawa-Johnson, 2/2020 CC-BY 4.0: You are

CS440/ECE448 Lecture 8: Configuration Space Mark Hasegawa-Johnson, 2/2020 CC-BY 4.0: You are free to: copy and redistribute the material in any medium or format, remix, transform, and build upon the material for any purpose, even commercially,

427 views • 42 slides

A User's experience with the Installation, Configuration, and Features of DTS's Space Recovery

A User's experience with the Installation, Configuration, and Features of DTS's Space Recovery System (SRS) David Astemborski - FirstBank David.Astemborski@EFirstBank.com Mona Hassan - DTS Software Mona@DTSSoftware.com Tuesday August 7, 2012

870 views • 43 slides

VA DERS (Q: What does it say?) VA DERS VA DERS (A: Space Invaders) am U us am U us

VA DERS (Q: What does it say?) VA DERS VA DERS (A: Space Invaders) am U us am U us (A: Ambiguous) convention configuration convention configuration (A: Convention over configuration) Welcome! A Grok T alk

1.6k views • 135 slides

Digital Urban Simulation Content Space as a configuration Spatial configurations and

Dr Peter Bus Estefania Tapias Pedraza bus@arch.ethz.ch tapias@arch.ethz.ch Lecture 2 Spatiality Urban Networks, Connectivity, Path Detection, Accessibility Digital Urban Simulation Content Space as a configuration Spatial

707 views • 32 slides

Seeking Closure in an Open World: a Behavioral Agent Approach to Configuration Management Alva

Seeking Closure in an Open World: a Behavioral Agent Approach to Configuration Management Alva Couch, John Hart, Elizabeth G. Idhaw, Dominic Kallas {couch,hart,greenlee,dkallas}@cs.tufts.edu Goals Long range goal is portable validation :

403 views • 28 slides

Configuring random graph models with fixed degree sequences Daniel B. Larremore Santa Fe

Configuring random graph models with fixed degree sequences Daniel B. Larremore Santa Fe Institute June 21, 2017 NetSci larremore@santafe.edu @danlarremore Brief note on references: This talk does not include references to literature, which

834 views • 24 slides

Parallel Algorithm Configuration Frank Hutter, Holger Hoos, Kevin Leyton-Brown University of

Parallel Algorithm Configuration Frank Hutter, Holger Hoos, Kevin Leyton-Brown University of British Columbia, Vancouver, Canada Algorithm configuration Most heuristic algorithms have parameters E.g. IBM ILOG CPLEX: Preprocessing,

444 views • 22 slides

NETCONF by Example v0.1.1 (2015-11-05) Overview and Objec6ves

NETCONF by Example v0.1.1 (2015-11-05) Overview and Objec6ves This presenta6on uses a set of common configura6on management tasks to walk through the main

610 views • 35 slides

Configuration and Management of Speaker Verification Systems W3C Workshop on Speaker Biometrics

Configuration and Management of Speaker Verification Systems W3C Workshop on Speaker Biometrics and VoiceXML 3.0 Chuck Johnson Architect iBiometrics, Inc. Introduction For peak performance of a Speaker Verification solution, the VoiceXML

464 views • 10 slides

Sun Grid Engine Package for OSCAR A Google SoC 2005 Project Babu Sundaram, Barbara Chapman

Sun Grid Engine Package for OSCAR A Google SoC 2005 Project Babu Sundaram, Barbara Chapman University of Houston Bernard Li, Mark Mayo, Asim Siddiqui, Steven Jones Canadas Michael Smith Genome Sciences Centre Sun Grid Engine Distributed

301 views • 17 slides

Real-time Lane Configuration with Coordinated Reinforcement Learning Presenter: Udesh Gunarathna

Real-time Lane Configuration with Coordinated Reinforcement Learning Presenter: Udesh Gunarathna Authors: Udesh Gunarathna, Hairuo Xie, Egemen Tanin, Shanika Karunasekara, Renata Borovica-Gajic University of Melbourne Udesh Gunarathna

685 views • 12 slides

TRANSFERRING PARETO FRONTIERS ACROSS HETEROGENEOUS HARDWARE ENVIRONMENTS 4/20/2020 Authors:

TRANSFERRING PARETO FRONTIERS ACROSS HETEROGENEOUS HARDWARE ENVIRONMENTS 4/20/2020 Authors: Pavel Valov, Jianmei Guo, Krzysztof Czarnecki Presented by: Pavel Valov David R. Cheriton School of Computer Science BASIC TERMINOLOGY Software

687 views • 27 slides