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teaching:gsoc2014 [2014/02/25 13:29] – [Proposed Topics] tenorthteaching:gsoc2014 [2014/02/25 13:31] – [Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet] tenorth
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-==== Proposed Topics ====+===== Proposed Topics =====
  
-=== CRAM -- Virtual Robot Scenarios in Gazebo ===+==== CRAM -- Virtual Robot Scenarios in Gazebo ====
 **Main Objective:** The development of scenarios and tasks **Main Objective:** The development of scenarios and tasks
 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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 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's control program.} robot's control program.}
 +
 +==== Topic 2: CRAM -- Symbolic Reasoning Tools with Bullet ====
 +
 +**Main Objective:**Mapping the environment to the internal belief state representation and keeping track of changes in the environment to keep the belief state up to date based on manipulation and interaction tasks performed by the robot.\\  
 +**Task Difficulty:** Relatively simple, when making the existing track changes more robust, and more challenging when introducing new change tracking (like noting the angle of open doors after opening them and storing it in the belief state).\\  
 +**Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps. Also a good understanding of geometric shapes and coordinate transformations helps.\\
 +**Expected Results:** We expect operational and robust contributions to the software library that can be used as part of a robot's control
 +
  
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