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Open Source Solutions for Motion Planning
Published on Jul 21, 20114787 Views
Sachin Chitta is a research scientist at Willow Garage. He received a PhD from the Grasp Lab at the University of Pennsylvania in 2005 and was a post-doctoral fellow in the Grasp Lab prior to joining
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Chapter list
Open Source Solutions for Motion Planning00:00
Outline01:11
About Us02:09
PR2 (1)02:46
PR2 Beta Program03:41
PR2 (2)04:01
Sensing on the PR2 (1)04:47
Sensing on the PR2 (2)06:04
Computing power06:46
Outline: ROS07:19
ROS (1)07:32
ROS (2)08:10
ROS (3)08:49
ROS - Evolution09:08
ROS (4)09:26
Robot Description10:00
Simulator (1)11:09
Simulator (2)11:49
Outline: Navigation13:12
Navigation (1)13:23
Navigation (2)14:15
Lattice based planner15:46
Navigation (3)16:54
Navigation - extension17:29
Octomap18:41
"3D" Navigation19:36
Applications - Long term autonomy21:18
Applications23:02
Motion Planning24:03
Motion Primitives25:09
Experiments (1)25:25
Experiments (2)25:39
Environment Uncertainty26:13
Some surprises along the way!!26:55
Outline: Manipulation27:14
Manipulation (1)27:43
Manipulation (2)27:44
Manipulation (3)28:40
Manipulation (4)28:41
Sensing (1)28:45
Semantic Perception (1)30:14
Semantic Perception (2)30:48
Manipulation (5)31:33
Collision Environment (1)31:35
Collision Environment (2)33:05
Collision Environment (3)34:28
Collision Environment (4)34:44
Collision Environment (5)36:15
Collider36:43
Manipulation (6)38:53
Kinematics (1)39:36
Kinematics (2)39:36
Manipulation (7)40:38
ROS - Motion Planners40:39
OMPL42:02
Smoothers44:00
CHOMP44:48
Applications for CHOMP46:24
System Architecture (1)46:58
System Architecture (2)47:45
System Architecture (3)48:46
System Architecture (4)49:09
Dealing with constraints (1)49:44
Dealing with constraints (2)50:51
Constrained Planning50:59
Application - Grasping51:22
Grasping Pipeline52:44
Arm Navigation and Manipulation52:49
Towards a safer robot (1)54:49
Towards a safer robot (2)55:50
Recent Work - STOMP56:17
Outline: Task Execution57:19
Task Execution57:20
SMACH (1)58:00
SMACH (2)58:10
Application - Beverage Retrieval58:36
Applications - Pool (1)59:18
Applications - Pool (2)59:25
Applications - Pool (3)59:55
Application - Busbot01:00:27
What’s coming?01:02:06
Thank you!01:03:44
Thank you! (2)01:04:30