Exercises and final works

• Motion planning methods based on potential fields: NF1 and HF
  • Navigation function method NF1
    • Solution
    • The discretization step
  • Harmonic Functions method (HF)
    • Solution
    • The boundary conditions
    • The relaxation
• Basic sampling-based motion planning methods: PRMs, RRTs
  • Qualitative evaluation of PRMs
    • The sampling source
    • The growing of the roadmap
  • Qualitative evaluation of RRTs
    • Extending the tree
    • The Goal Bias parameter
    • Bi-directional RRTs
  • Benchmarking PRMs and RRTs
• Improvements and extensions for sampling-based motion planning methods
  • PRM with Gaussian sampling
    • The sampling source
    • Performance evaluation
  • RRT*
    • The rewiring process
    • Performance evaluation
• Task planning
  • PDDL Basics
    • General Syntax of PDDL
    • The Domain file
    • The problem file
  • PDDL web tools
    • Fast-Downward Planning on the Web
    • The PDDL Editor
  • Exercise
    • Task Statement
    • Solution: PDDL Domain file
    • Solution: PDDL problem file
    • Proposed exercise
• Integrating task and motion planning
  • Introduction
    • The tools
    • Install instructions
    • The demos
  • Task Planning
    • Task modelling
    • The Fast-Forward task planner package
    • EXERCISE 1
  • Motion Planning
    • The kautham_ros package
    • EXERCISE 2
  • Task And Motion Planning (TAMP)
    • TAMP Modelling
    • TAMP Manager Node
    • EXERCISE 3
  • Manipulation Planning
    • Manipulation demos
    • Visualization with RViz
    • EXERCISE 4
    • EXERCISE 5
    • Defining new actions
• Final work proposals
  • Repository structure