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teaching:gsoc2014 [2014/02/25 13:28] – [Proposed Topics] tenorth | teaching:gsoc2014 [2014/02/25 14:26] – [CRAM -- Virtual Robot Scenarios in Gazebo] tenorth | ||
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====== Google Summer of Code 2014 ====== | ====== Google Summer of Code 2014 ====== | ||
~~NOTOC~~ | ~~NOTOC~~ | ||
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- | ==== Proposed Topics ==== | + | ===== Proposed Topics |
- | === CRAM -- Virtual Robot Scenarios in Gazebo === | + | ==== CRAM -- Virtual Robot Scenarios in Gazebo ==== |
+ | {{ : | ||
**Main Objective: | **Main Objective: | ||
for human-sized robots. This is done using ROS, the Gazebo robot | for human-sized robots. This is done using ROS, the Gazebo robot | ||
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workspaces requiring interaction with the environment, | workspaces requiring interaction with the environment, | ||
and closing drawers and doors. | and closing drawers and doors. | ||
- | | ||
This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities. | This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities. | ||
- | | + | {{ : |
The produced code will, when working in a simulated environment, | The produced code will, when working in a simulated environment, | ||
- | | ||
- | **Task Difficulty: | ||
- | |||
- | **Requirements: | ||
+ | **Task Difficulty: | ||
+ | **Requirements: | ||
**Expected Results:** We expect operational and robust | **Expected Results:** We expect operational and robust | ||
contributions to the software library that can be used as part of a | contributions to the software library that can be used as part of a | ||
robot' | robot' | ||
+ | Contact: [[team/ | ||
+ | |||
+ | ==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ==== | ||
+ | {{ : | ||
+ | **Main Objective: | ||
+ | **Task Difficulty: | ||
+ | {{ : | ||
+ | **Requirements: | ||
+ | **Expected Results:** We expect operational and robust contributions to the software library that can be used as part of a robot' | ||
+ | |||
+ | Contact: [[team/ | ||
+ | ==== Topic 3: KnowRob -- Reasoning about 3D CAD models of objects ==== | ||
+ | < | ||
+ | **Main Objective: | ||
+ | need information about their geometry. While the overall shape is | ||
+ | sufficient for picking up an object, more information about its | ||
+ | composition from parts and their meaning (e.g. a handle or a container) | ||
+ | is needed when using objects as tools in more complex activities. | ||
+ | We have developed an initial version of a program library that is able | ||
+ | to analyze CAD models of objects, as they can be found in large databases | ||
+ | on the Web, and to automatically identify such functional components. | ||
+ | As part of this project, that software library is to be extended in | ||
+ | order to recognized additional geometric primitives (e.g. torus, box) | ||
+ | and to improve the segmentation and make it more robust. Alternatively, | ||
+ | the focus could be more on improving the analysis infrastructure and | ||
+ | integrating it more closely with the robot' | ||
+ | **Task Difficulty: | ||
+ | ranges from rather simple tasks at the infrastructure level to | ||
+ | interesting research problems for the geometric analysis.\\ | ||
+ | **Requirements: | ||
+ | solid understanding of 3D geometry. Good programming skills in Java | ||
+ | are needed for implementing the algorithms and for evaluating their | ||
+ | results. Depending on the exact topic, knowledge of machine learning | ||
+ | methods or the ability to learn about them could be helpful.\\ | ||
+ | **Expected Results:** We expect operational and robust contributions | ||
+ | to the software library that can be used as part of a robot' | ||
+ | program. | ||
+ | |||
+ | Contact: [[team/ |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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