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Physics-Based Motion Planning for Robot Soccer Dribbling

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Uploaded on May 28, 2010

This video shows an autonomous robot minigolf system that uses physics-based motion planning to automatically devise control solutions for never-before-encountered problems. Planning and control is performed by an off-board computer with a global dual-camera overhead vision system.

The underlying planning algorithms are described in my PhD Thesis "Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments" (CMU-CS-10-115), Stefan Zickler, 2010.

For more information, see http://szickler.net/thesis/

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