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Simulation, Motion Planning and Arm Navigation

Kickoff Meeting Minutes (IROS 2011 09/27/2011)

Multiple steps in controlling using dynamics simulation:

Existing dynamics engines for simulation use penalty-based methods to make sure that joints remain connected - forcing trade-off between accuracy and stability. Not well suited for articulated dynamics.

Focal Points:

DART Discussion

Karen Liu's and Mike Stilman's groups working together on DART - an alternative to the KDL/ODE pipeline, which was presented to the group. Using the FCL (fast collision library) for collision checking. Relies on Eigen. Cross-platform. Early version of docs: http://dart.golems.org/ (Work in progress - many changes already made).

To Do:

Use:

Questions to be answered:

Suggestions/Discussion:

Define friction in URDF-like models:

Issues raised about COLLADA:

COLLADA

Shared interest:

Motion Planning and Arm Navigation

How to store/represent the state of the world for motion planning?

Have a general plan message - We need a way to send plans

OMPL and SBPL

Suggestion: integrate search-based planners with sampling-based planners Currently, at the ROS level different planners are integrated (search-based, CHOMP, OMPL planners, etc.)

Suggestion: integrate search-based planners with sampling-based planners Currently, at the ROS level different planners are integrated (search-based, CHOMP, OMPL planners, etc.)

General

Many interesting challenges beyond basic planning: e.g., distributed planning where communication modeling is necessary - an effort is under development from Rice and Univ. Nevada Reno that integrates OMPL with ns3 (network simulator for modeling realistic network parameters)

What does the ROS user base need from motion planning?

Desired Features:

Collada:


2022-05-28 12:36