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H T O F The tying/untying planner isThus, resilient the to multi-scale perturbations methods are faster andAlso efficient proved that than the tradi- Minimum Distance Energy isAll NOT geometrical unimodal computations done at 3D level Proved our hypothesis of being able to design a robust, multi-scal Implement the planner onto WebotsImplement more / of Open Special Dynamics moves on Engine so as to interlink between Extend to cloth dynamics min) ing/untying planner took approximately 12 minutes ! reactive knot tying/untying strategy tional methods like Probabilistic Roadmaps and Feedback contro unlike proved by its inventor in 1995. Unknotting an Overhand Knot using PRM planner - (Time taken - 75 Traditional PRM planner took 75 minutes whereas our knot ty- knot types ditional • • Evaluation ofagainst this the motion traditionalRoadmap Probabilistic planner (PRM) planner Conclusions Future Research ) n) s to ithin e Fresh Talent initiative compared to those of thethat Islands, the island, closest PRM island is isuration. deployed chosen and to w get the closest matching Knot config- hopping rather than node-by-node traversals in the CG. This lead min) Loop removals and Knot Energy optimisations - (Time taken - 15 mi faster and efficient knotting/unknotting operation During (or Knot) operation, the current Knot MD energy is Trajectory for an Unknot(Knot) operation is generated by Knot-island Unknotting an Overhand Knot - (Time taken - 2 min) Unknotting a Hopf - Mirror Reflection method - (Time taken - 0.5 Unknotting a Complex Looped Overhand Knot through iterations of • • • • • Results ) 2 Ej ) ( l ugh the Scottish International Scholarship programme under th Ei,Ej length ( ∗ ) knot- Ei ( similar MinDist length 2 / 1) − n ( n 1 P 10 8 6 Number of optimised branches 4 2 5 MD energy contours for an Overhand Knot 10 4 15 x 10 0 20

−2 −4 −6 −8

−10 MD Energy MD Number of nodes in one full trajectory spection, Aerospace assembly and Looped Overhand Knot shown states from different starts to-unknot or unknot-to-knot where n = number of vertices Energy regions called Knot Islands Importance of Flexible robots - Military, Medical surgery, Nuclear in- Designed a knot tying/untying planner for DLOs to reach desirable goa Knot types experimented on: Overhand knot, Slip Knot, Untight Knot, DLO parametrised as a Knot Basic operations on DLO:Visualised Knot-tying and in untying MATLAB as a Polygonal Knot Creation of Configuration Graphs(CG): entire simulations from Generalise entire trajectories: usingMinimum-Distance Knot Energy for Energy Polygonal Knots = This is scale-invariant - dependsGroup only similarly-shaped on knot the configurations shape within the of CG the into Knot Similar Energy regions are identifiedThe using Minimum the Energy Distance contours. Energy contours for an Overhand Knot is Sandhya Prabhakaran, MSc in AI (Supervisor: Dr. Subramanian Ramamoorthy Multi-scale, ReactiveObjects Motion PlanningThe with implemented Deformable motionsampling-based Linear and planner feedback is control faster methods and efficient than tra • • • • • • • • • • • • • Focus Area Implementation Method MSc course funded by the Scottish Government and British Council thro •