Award Abstract #0713335
RI: Practical Parametrization and Efficient Motion Planning of Linkage Systems

NSF Org:	IIS Division of Information & Intelligent Systems
Initial Amendment Date:	August 17, 2007
Latest Amendment Date:	May 19, 2009
Award Number:	0713335
Award Instrument:	Continuing grant
Program Manager:	Paul Yu Oh IIS Division of Information & Intelligent Systems CSE Directorate for Computer & Information Science & Engineering
Start Date:	August 1, 2007
Expires:	July 31, 2010 (Estimated)
Awarded Amount to Date:	$298250
Investigator(s):	Li Han Lhan@clarku.edu (Principal Investigator) Lee Rudolph (Co-Principal Investigator)
Sponsor:	Clark University 950 MAIN ST WORCESTER, MA 01610 508/793-7765
NSF Program(s):	ROBUST INTELLIGENCE
Field Application(s):
Program Reference Code(s):	OTHR, HPCC, 9251, 9218, 9215, 7495, 0000
Program Element Code(s):	7495

ABSTRACT

Representation and planning for complex physical tasks involving spatial relationships are key challenges facing the robotics community. This project proposes to develop new theoretical and algorithmic approaches to important cases of these challenges. The researchers will apply a new, general geometric and topological approach to the study of system parameterization, constraint formulation, and configuration space structures of linkage systems. They will also develop and perform benchmark evaluations of motion planning algorithms. While this project focuses on manipulation systems and knots, the addressed issues and developed techniques will be applicable to a wide range of linkages including both physical linkages (such as articulated robots or protein molecules) and virtual linkages (such as groups of points or swarms of mini-robots) under various kinds of geometric constraints. The project will also contribute to the development of human infrastructure in science and technology, by allowing the researchers to continue and expand their successful training and involvement of undergraduate students in mathematical and algorithmic aspects of robotics research.

PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

Li Han, Lee Rudolph, Jonathon Blumenthal, and Ihar Valodzin. "Convexly Stratified Deformation Spaces and Efficient Path Planning for Planar Closed Chains with Revolute Joints," International Journal of Robotics Research, v.27, 2008, p. 1189.

Please report errors in award information by writing to: awardsearch@nsf.gov.