Robot Motion Planning

By Prof. Ashish Dutta | IIT Kanpur

Learners enrolled: 1756

The course is intended as a first level introduction to robot motion planning for students,teachers and industry personal. Historically, robot motion planning deals with the design of algorithms that can find collision free paths (if they exist) to take a robot from an initial point to a goal point. Due to recent interests in developing autonomous robotic systems, the subject has become extremely broad and covers not only the traditional areas of finding collision free paths, but automatic assembly, warehouse automation, multi robot cooperation, robotic surgery, etc. The course would cover the fundamental concepts and mathematics required to understand, analyze, and design algorithms required for motion planning of serial robotic arms and mobile robots. After taking this course, students could then take more advanced courses/topics in focused areas like, AI in Motion Planning, unmanned vehicles, probabilistic motion planning, etc. Teachers could use this course to lay the foundation of other courses involving mobile robots like, manufacturing automation, AI, Computer vision applications, etc

PRE-REQUISITE : Basic Mathematics : matrices, differential equations

INTENDED AUDIENCE : Students (UG 3^rd / 4^th year in Mechanical/Electrical/Computer Science/Aerospace engineering), Teachers of engineering colleges, Industry professorial

INDUSRTY SUPPORT : All Manufacturing and automation companies (TATA motors, Mahindra, Maruti, Hyundai, GE, GM, etc), IT companies (TCS, Infosys, etc), Amazon, Flipcart, process industries using robotics, aerospace, etc.

Summary

Course Status :	Completed
Course Type :	Elective
Language for course content :	English
Duration :	8 weeks
Category :	Mechanical Engineering Robotics
Credit Points :	2
Level :	Undergraduate/Postgraduate
Start Date :	21 Feb 2022
End Date :	15 Apr 2022
Enrollment Ends :	21 Feb 2022
Exam Date :	24 Apr 2022 IST

Note: This exam date is subject to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1: Introduction to Robot Motion Planning, Basics of Serial robotic arms and Mobile robots, Transformations

Week 2: Earliest Bug Algorithms, Configuration Space, Manifold, Topology of Configuration Space
Week 3: C-Space Obstacles, C-Space for mobile robots
Week 4: C- Space for Serial robotic arms
Week 5: Road Map methods, Cell decomposition methods, sampling based methods
Week 6: Potential field based methods, wave front planners.
Week 7: Non-holonomic systems and planning with kinematic constraints.
Week 8: Motion planning for Multi robotic systems, motion planning in 3D.

Books and references

Robot Motion Planning by Jean-Claude Latombe, Springer Science
Principles of Robot Motion : Theory, Algorithms and Implementation by Howie Choset, Kevin Lynch, Seth Hutchinson, etal.

Instructor bio

Prof. Ashish Dutta

IIT Kanpur

Prof. Ashish Dutta obtained his PhD in Systems Engineering from Akita University, Japan, M.Tech from Jadavpur University and B.Tech from NIT Calicut. From 1994 to 2000 he was with the Bhabha Atomic Research Center, Mumbai where he worked on telemanipulator design and control for nuclear applications. Since 2002 he is with the department of mechanical engineering at IIT Kanpur, India. He was also a visiting professor in Nagoya University, Japan in 2006 and is currently a visiting professor at Kyushu Institute of Technology, Japan (2015 - ). His research interests are in the areas of humanoid robotics,motion planning in 3D, intelligent control systems and rehabilitation engineering. Prof. Dutta has also served as advisory board member of ISRO Chandrayan II Lunar mission (2009), member of Task force on AI of the Ministry of Commerce and Industry (2017), Secretary of The Robotics Society of India (2011-2017), member Bureau of Indian Standards (Robotics Section), Chairman India-South Korea robotics working group (2013-) , ChairmanIEEE Robotics and Automation section (UP, UK section), etc.

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.

The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).

Date and Time of Exams: 24 April 2022 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.

Registration url: Announcements will be made when the registration form is open for registrations.

The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.

Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 6 assignments out of the total 8 assignments given in the course.

Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup. It will have the logos of NPTEL and IIT Kanpur. It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team