RoboJackets Wiki - User contributions [en]

User:JeanPierreDLC

2009-01-20T21:02:41Z

JeanPierreDLC: No longer true.

[[Image:JeanPierre.jpg|left]]

'''Name:''' Jean-Pierre de la Croix

'''E-mail:''' [mailto:gtg440y@mail.gatech.edu gtg440y@mail.gatech.edu]

'''Phone:''' 678-458-3992 (Cell)

'''Positions:'''
** [[IGVC]], [[Path Planning Systems]] Lead

Path Planning Systems

2008-01-27T22:28:27Z

JeanPierreDLC: /* TODO List */ Added Splines as task.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== TODO List ==

* [ ] Week of January 28, 2008
** [ ] MATLAB
*** [ ] Vectorization
*** [ ] Splines
** [ ] C
*** [ ] Matrices/Vectors
**** [ ] MTL http://osl.iu.edu/research/mtl/
**** [ ] Meschach http://www.math.uiowa.edu/~dstewart/meschach/
**** [ ] FLENS http://flens.sourceforge.net/
*** [ ] Data Structures
**** [ ] Stack
**** [ ] Occupancy Grid
***** [ ] Grid Point

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
*** [x] manhatten distance
*** [x] vector addition
*** [ ] splines
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [x] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [x] add variable start/goal locations
** [ ] Obstacle Avoidance
*** [ ] using sweeping algorithm
*** [ ] using depth-limited sweep
* [ ] Implementation
** [ ] Matlab Prototype
** [ ] C/C++ Product

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2008-01-27T21:49:30Z

JeanPierreDLC: /* TODO List */ Reorganized TODO list.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== TODO List ==

* [ ] Week of January 28, 2008
** [ ] MATLAB
*** [ ] Vectorization
** [ ] C
*** [ ] Matrices/Vectors
**** [ ] MTL http://osl.iu.edu/research/mtl/
**** [ ] Meschach http://www.math.uiowa.edu/~dstewart/meschach/
**** [ ] FLENS http://flens.sourceforge.net/
*** [ ] Data Structures
**** [ ] Stack
**** [ ] Occupancy Grid
***** [ ] Grid Point

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
*** [x] manhatten distance
*** [x] vector addition
*** [ ] splines
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [x] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [x] add variable start/goal locations
** [ ] Obstacle Avoidance
*** [ ] using sweeping algorithm
*** [ ] using depth-limited sweep
* [ ] Implementation
** [ ] Matlab Prototype
** [ ] C/C++ Product

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2008-01-27T21:37:55Z

JeanPierreDLC: Added (weekly) TODO list

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== TODO List ==

* [ ] Week of January 28, 2008
** [ ] MATLAB
*** [ ] Vectorization
** [ ] C
*** [ ] Matrices/Vectors
*** [ ] Queues
*** [ ] Occupancy Grid

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
*** [x] manhatten distance
*** [x] vector addition
*** [ ] splines
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [x] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [x] add variable start/goal locations
** [ ] Obstacle Avoidance
*** [ ] using sweeping algorithm
*** [ ] using depth-limited sweep
* [ ] Implementation
** [ ] Matlab Prototype
** [ ] C/C++ Product

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2008-01-27T20:26:45Z

JeanPierreDLC: /* Books */ Sold one of those books.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
*** [x] manhatten distance
*** [x] vector addition
*** [ ] splines
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [x] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [x] add variable start/goal locations
** [ ] Obstacle Avoidance
*** [ ] using sweeping algorithm
*** [ ] using depth-limited sweep
* [ ] Implementation
** [ ] Matlab Prototype
** [ ] C/C++ Product

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

IGVC

2008-01-15T23:18:13Z

JeanPierreDLC: /* Meeting/Work Times */ New meeting times for Spring 2008.

[[Image:OfficiialPic.jpg|thumb|400px|right|[[Candi Robot Guide|Candi]], our robot for the 2007 IGVC competition.]]

Welcome to the RoboJackets IGVC Wiki.

The [http://www.gatech.edu/ Georgia Tech] [http://www.robojackets.org/ RoboJackets] [http://www.igvc.org IGVC] team will compete for the fifth time in the intelligent ground vehicle competition. This year's competition will be held at Oakland University from May 30 - June 2, 2008.

==Meeting/Work Times==

* '''IGVC Planning Day''' - Thursday 6:00 pm to 7:00 pm
* '''IGVC Work Day''' - Sunday 2:00 pm to 6:00 pm (these meetings are subject to lengthening as deadlines approach)

==Announcements==
''Please sign announcements with <tt><nowiki>-~~~~</nowiki></tt>.

* The competition has been moved from June 6-9, 2008 to May 30 - June 2, 2008. -[[User:DavidF|DavidF]] 15:29, 3 January 2008 (EST)

==Important Items==

=====2008 Competition=====
* [[Candii Robot Guide]]
** [[IGVC Divisions of Responsibility]]
* [[IGVC Meeting Notes|Meeting Notes]] + [[IGVC General Schedule and Progress Review|General Schedule and Progress Review]]
* [[IGVC 2008 TODO|TODOs]]
* [https://lists.gatech.edu/sympa/info/robojackets-igvc IGVC Mailing List]

=====Reference=====
* [http://www.igvc.org/ Official IGVC Website]
* [[IGVC Rules]]
* [[IGVC Coding Conventions]]
* [[PlayerStage|Writing Player Drivers]]
* [[Resources for Learning]]
* [[IGVC Parts Sampling List]]
* [[IGVC Travel Details]] - Note, these details are from the 2007 competition. They will remain here as a reference.

=====History=====
* [[Hall of Robots]] - this should be moved under [[Competitions]]
* [[Competitions]]
** [[2007 IGVC Competition Gallery]] - footage of Candi from last year
* [[Misc. IGVC Archives]]

[[Category: IGVC]]

Path Planning Systems

2007-12-19T01:48:15Z

JeanPierreDLC: /* Task List */ Updated tasks.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
*** [x] manhatten distance
*** [x] vector addition
*** [ ] splines
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [x] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [x] add variable start/goal locations
** [ ] Obstacle Avoidance
*** [ ] using sweeping algorithm
*** [ ] using depth-limited sweep
* [ ] Implementation
** [ ] Matlab Prototype
** [ ] C/C++ Product

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-11-12T16:34:00Z

JeanPierreDLC: Added diagram of architecture.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

[[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]]

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [ ] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [ ] add variable start/goal locations

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

File:Igvcpp.png

2007-11-12T16:25:00Z

JeanPierreDLC: IGVC Path Planning Architecture Diagram

IGVC Path Planning Architecture Diagram

Path Planning Systems

2007-11-12T15:40:51Z

JeanPierreDLC: /* Task List */ Completed "add obstacles" task.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [ ] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [x] add obstacles
*** [ ] add variable start/goal locations

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-11-03T18:49:32Z

JeanPierreDLC: /* Task List */

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path Planning
** [x] Dijkstra's algorithm
** [ ] Gradient traversal
** [ ] A* algorithm
** [ ] D* algorithm
* [ ] Cost Map
** [ ] Sweeping Algorithm
*** [x] implement manhattan distance
*** [x] implement geometric approximation
*** [ ] add obstacles
*** [ ] add variable start/goal locations

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-11-03T16:26:20Z

JeanPierreDLC: /* Books */ Changed name.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path planning algorithms
** [ ] Determine (research) relevant algorithms
*** [ ] for autonomous navigation challenge
*** [ ] for GPS waypoint navigation challenge
** [ ] Add relevant resources to the "Resources" section.
* [ ] Maps
** [ ] Determine best type of map
** [ ] Coordinate with [[Data Filtering Systems]] group
* [ ] Machine learning
** [ ] Algorithms for learning
** [ ] Evaluating effectiveness of cost function
* [ ] Simulation
** [ ] Create MATLAB/C++ simulation base for testing

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin Joo]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.

=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-11-03T16:24:07Z

JeanPierreDLC: /* People */ Changed name.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin Joo]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path planning algorithms
** [ ] Determine (research) relevant algorithms
*** [ ] for autonomous navigation challenge
*** [ ] for GPS waypoint navigation challenge
** [ ] Add relevant resources to the "Resources" section.
* [ ] Maps
** [ ] Determine best type of map
** [ ] Coordinate with [[Data Filtering Systems]] group
* [ ] Machine learning
** [ ] Algorithms for learning
** [ ] Evaluating effectiveness of cost function
* [ ] Simulation
** [ ] Create MATLAB/C++ simulation base for testing

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.
=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-10-13T19:30:23Z

JeanPierreDLC: /* Resources */ More organization for the resources.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path planning algorithms
** [ ] Determine (research) relevant algorithms
*** [ ] for autonomous navigation challenge
*** [ ] for GPS waypoint navigation challenge
** [ ] Add relevant resources to the "Resources" section.
* [ ] Maps
** [ ] Determine best type of map
** [ ] Coordinate with [[Data Filtering Systems]] group
* [ ] Machine learning
** [ ] Algorithms for learning
** [ ] Evaluating effectiveness of cost function
* [ ] Simulation
** [ ] Create MATLAB/C++ simulation base for testing

== Resources ==
=== Books ===
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.
=== Articles ===
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-10-13T19:27:56Z

JeanPierreDLC: /* Resources */ Added links for new resources.

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin]]
* [[User:HusaynV|Husayn]]

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* Path Planning Meeting (with Dr. Vela)
** Friday, 1pm, Van Leer (VL) E368
* IGVC Work Day
** Saturday, 2-6pm, Tin Building

== Task List ==
* [ ] Path planning algorithms
** [ ] Determine (research) relevant algorithms
*** [ ] for autonomous navigation challenge
*** [ ] for GPS waypoint navigation challenge
** [ ] Add relevant resources to the "Resources" section.
* [ ] Maps
** [ ] Determine best type of map
** [ ] Coordinate with [[Data Filtering Systems]] group
* [ ] Machine learning
** [ ] Algorithms for learning
** [ ] Evaluating effectiveness of cost function
* [ ] Simulation
** [ ] Create MATLAB/C++ simulation base for testing

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
** http://planning.cs.uiuc.edu
** [[User:JinL|Jin]] has a hard copy.
* "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
** [[User:JeanPierreDLC|JP]] has a hard copy.
* "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
** [[User:JeanPierreDLC|JP]] has a hard copy.
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf
* Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
**http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
**http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
**http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf
* Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.
**http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf

Path Planning Systems

2007-10-06T20:12:12Z

JeanPierreDLC: /* Meetings */ Meeting time with Dr. Vela changed.

User:JeanPierreDLC

2007-10-06T20:11:19Z

JeanPierreDLC:

User:JeanPierreDLC

2007-10-06T20:06:15Z

JeanPierreDLC:

Path Planning Systems

2007-09-24T21:58:22Z

JeanPierreDLC: /* Task List */ Updated tasks.

Path Planning Systems

2007-09-22T20:17:06Z

JeanPierreDLC: /* Meetings */ Monday comes before Tuesday.

Path Planning Systems

2007-09-22T20:00:16Z

JeanPierreDLC: /* Meetings */ Spelled out 'with'

Path Planning Systems

2007-09-22T19:59:41Z

JeanPierreDLC: /* Resources */ Updated again.

Path Planning Systems

2007-09-22T19:58:07Z

JeanPierreDLC: /* Resources */ Updated.

Path Planning Systems

2007-09-22T19:50:32Z

JeanPierreDLC: Edited ordering.

Path Planning Systems

2007-09-22T19:47:59Z

JeanPierreDLC: Added Meetings.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

== Meetings ==
* IGVC Planning Day
** Tuesday, 6-7pm, Tin Building
* IGVC Work Day
** Saturday, 2-6pm, Tin Building
* Path Planning Meeting (w/ Dr. Vela)
** Monday, 1pm, Van Leer (VL) E368

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin]]
* [[User:HusaynV|Husayn]]

== Task List ==
* [ ] Research different types of path planning algorithms
** [ ] Add relevant resources to the "Resources" section.
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with [[Data Filtering Systems]] group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
** http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
** http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf

Path Planning Systems

2007-09-22T19:42:51Z

JeanPierreDLC:

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

== People ==
* [[User:JeanPierreDLC|JP]]
* [[User:JinL|Jin]]
* [[User:HusaynV|Husayn]]

== Task List ==
* [ ] Research different types of path planning algorithms
** [ ] Add relevant resources to the "Resources" section.
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with [[Data Filtering Systems]] group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
** http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
** http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf

Path Planning Systems

2007-09-18T23:47:34Z

JeanPierreDLC: /* Task List */ Updated tasks.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

== Task List ==
* [ ] Research different types of path planning algorithms
** [ ] Add relevant resources to the "Resources" section.
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with [[Data Filtering Systems]] group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
** http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
** http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf

Path Planning Systems

2007-09-18T23:46:55Z

JeanPierreDLC: /* Resources */ Added additional resource.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data (provided by [[Data Filtering Systems]] group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

== Task List ==
* [ ] Research different types of path planning algorithms
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with [[Data Filtering Systems]] group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
** http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf
* Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
** http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf

File:KuffnerOptimalSearch.pdf

2007-09-18T23:44:29Z

JeanPierreDLC: Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.

Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.

Path Planning Systems

2007-09-18T20:28:02Z

JeanPierreDLC: /* Resources */ Added additional resource.

File:WienerMallot.pdf

2007-09-18T20:22:22Z

JeanPierreDLC: 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Wiener and Mallot Max-Planck-Institute Biological Cybernetics Technical Report TR-115, 2003.

'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments.
Wiener and Mallot
Max-Planck-Institute Biological Cybernetics Technical Report
TR-115, 2003.

Path Planning Systems

2007-09-15T21:29:51Z

JeanPierreDLC: Added Wiki links.

Path Planning Systems

2007-09-15T20:47:18Z

JeanPierreDLC: Extended purpose description.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data (provided by "Data Filtering Systems" group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, optimal switching, and maps are the main focus points of this group.

== Task List ==
* [ ] Research different types of path planning algorithms
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with "Data Filtering Systems" group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org

Path Planning Systems

2007-09-15T20:33:36Z

JeanPierreDLC: Added task list.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."

== Task List ==
* [ ] Research different types of path planning algorithms
* [ ] Determine relevant algorithms
** [ ] for autonomous navigation challenge
** [ ] for GPS waypoint navigation challenge
* [ ] Research control theory
** [ ] Optimal switching
* [ ] Determine best type of map (representation of environment)
** [ ] Coordinate with "Data Filtering Systems" group

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org

Path Planning Systems

2007-09-15T20:13:57Z

JeanPierreDLC: Player no longer a needed resource.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."

==

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org

Path Planning Systems

2007-09-15T19:01:11Z

JeanPierreDLC: I can't spell.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Xplore
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Player/Stage/Gazebo
**http://playerstage.sourceforge.net/

Path Planning Systems

2007-09-15T19:00:24Z

JeanPierreDLC: Added Player resources.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."

== Resources ==
* "Planning Algorithms" by Steven M. LaValle
**http://planning.cs.uiuc.edu
* IEEE Explorer
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
* Player/Stage/Gazebo
**http://playerstage.sourceforge.net/

Path Planning Systems

2007-09-15T18:57:25Z

JeanPierreDLC: Added resources.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."

== Resources ==
* A free online path planning book
**http://planning.cs.uiuc.edu
* IEEE Explorer
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org

Path Planning Systems

2007-09-15T18:53:25Z

JeanPierreDLC: Initial commit.

The purpose of the "Path Planning Systems" is to find an optimal path through the environment given a model of the environment from the data of the "Data Filtering Systems."

Candii Robot Guide

2007-09-15T18:50:04Z

JeanPierreDLC: /* Intelligence-Centric Divisions */

[[Image:GloriousCandi.jpg|thumb|right|An example of one hot robot.]]

This Candii Robot Guide extends the [[Candi Robot Guide]]. Although Candi was designed for the 2007 IGVC, she will be used once again in 2008. However, she will have a sparkling new personality (electronics and software), so she is now Candii.
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= Devices =

Below is a diagram showing the flow of data between the various robot controller components.

[[Image:CandiiDevices.png|left]]
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= [[IGVC Divisions of Responsibility]] =
These links will go to pages detailing each part of the design. Division leaders should start filling these in.
=== General Services ===
*Version Control
*Documentation Requirements
=== Hardware-Centric Divisions ===
*[[Candii Power and Motor Drive Systems | Power and Motor Drive Systems]]
*Data Acquisition
*[[Integration and Telemetry Systems]]

=== Intelligence-Centric Divisions ===
*Environment Data Processing Systems
*[[Data Filtering Systems]]
*[[Path Planning Systems]]

File:IgvcEMAP.png

2006-11-05T19:42:35Z

JeanPierreDLC: Electronics Map for IGVC Robot (Candi).

Electronics Map for IGVC Robot (Candi).

User:JeanPierreDLC

2006-10-11T17:16:32Z

JeanPierreDLC:

I will put something here later.