Assignment 5
Home HANDOUTS Assignment 1 Solution 1 Assignment 2 Solution 2 Assignment 3 Solution 3 Assignment 4 Assignment 5

 

Topic: Representing, Reasoning About, and Planning Paths in Free Space

Due: Monday, April 9

  1. Design an "octTree" data type in Haskell.
     
  2. Write a Haskell program that converts a list of polygons into a quadtree representation.  (Hint: use ideas from SOE.)
     
  3. For a differential drive robot, formally define:
    1. Its configuration and its configuration space.
    2. Its non-holonomic constraints.
       
  4. Write a Haskell program that converts a list of polygons into a Visibility Graph.
     
  5. Write a Frob program (using the simulator) that uses potential fields to control the behavior of two robots that are attracted toward a common target, and are repelled from static obstacles and from each other.
     
  6. Extra credit:  Show that, in the limit as the velocity v increases to infinity, a differential drive robot has only holonomic constraints relative to a moving frame of reference with velocity v.