# CS287 Advanced Robotics

## Course Outline

####
Some background in computational geometry and control theory is
essential and rather than assume this, the first few weeks will cover
the material we need. Topics include data structures, sweepline
algorithms, voronoi diagrams, convex hulls and linear programming,
duality, epsilon-nets, dynamics and model-based control. The core
topics that follow are (i) telerobotics and telesurgery, (ii) agents
and model-based vs. behavior-based architectures (iii) RISC and
minimalist designs for sensors and manipulators (iv) micro-robotics,
silicon motors, grippers, motion arrays and sensors (v)
nano-technology, SPMs, molecular pistons, Fullerenes, "lego" proteins.

## Syllabus

### Computational Geometry

Review of Data structures. Balanced trees and persistent BBTs.
Algebraic representation of polygons.

An O((n+k)log n) line-sweep algorithm for intersection/union and for
generating a data structure for point-in-polygon queries.

Convex Hulls and an O(n log n) algorithm in the plane. Relationship
with linear programming. An O(n)-time randomized algorithm for linear
programming in fixed dimension. Collision-testing using linear
programming.

Duality definitions and examples. Voronoi diagrams and
Delaunay triangulations and their relationship to convex hull.
Motion planning using Voronoi diagrams. Delaunay triangulations for
surface and volume representation.

A constant-time (typically) algorithm for incremental collision
detection and distance measuring. Measuring penetration using duality.

Random sampling and epsilon-nets. Applications to grasping and
curve approximation. Clarkson's evolutionary algorithm.

### Control and Dynamics

PD and PID controllers. Poles and stability.

Rigid body dynamics. Newton-Euler equations of motion.

Efficient O(n) dynamics for tree and almost-tree topology
robots.

Model-based control. Computed-torque controllers. Force
controllers.

Reinforcement-learning algorithms. Beam balancing example.

## Resources on the Web

Computational Geometry
CG201
an introductory course from Curtin University.
Resource
List from UCB.

General Robotics
Links

Telerobotics
JPL/NASA Telerobotics Projects
Back to the CS287 home page.