COMP 765: Mobile Robotics and Spatial Representation, Winter 2011

This page will host references to Player/Stage information and class assignments.

Player/Stage Information

Some of the things we talked about in class:

1. Player/Stage Homepage.
2. Player/Stage Documentation.
3. Player/Stage Quickstart with Stage Simulation.
4. Player/Stage PPA for Ubuntu.. Read the link that says "Read about installing" to know how to add the PPA archive and then install packages from it.
5. Player/Stage Example Code from the PPA-based install can be found under /usr/share/player/examples/libplayerc and /usr/share/player/examples/libplayerc++ Check out the README files there first.

Assignment 1

There are two parts in this assignment, as described below:

1. Implement an RRT using an environment map represented as a PGM file. Draw the RRT using any graphics package you like, including Qt, Gtk, Tcl/TK, or any other.
2. Once you have tested and debugged your RRT code, and done some performance analysis attach it to Player/Stage. Using this simulator, execute your planner with a robot simulator. With a small amount of simulated odometry error, how does your planner behave? What improvements can you propose?

For sample maps and sample code demonstrating laser scanner-based obstacle avoidance (modified from the sample Player code), click here. The tarball contains two map PNG files.