[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-117363-en":3,"doc-seo-117363-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":21,"language":22,"language_code":23,"site_id":24,"html_lang":23,"table_of_contents":25,"faqs":26,"seo_title":27,"seo_description":14,"update_tm":28,"read_time":29},117363,687197207639,"Asher","https://ap-avatar.wpscdn.com/davatar_a8503ba1806abce46bf441b54a3ca4cd",6,"Technology","Machine learning for fast motion planning - Bachelor’s Thesis","Motion planning and machine learning are two central topics in modern engineering and research. This bachelor’s thesis investigates whether combining these disciplines yields satisfactory results for fast motion planning. Six new motion-planning algorithms are proposed, with three leveraging pure machine-learning methods or techniques related to machine learning to accelerate the planning process. Motivation comes from the computational difficulty of motion planning in high degrees of freedom, including protein docking, where efficient motion planning in complex environments is essential.","Czech Technical University in Prague  \nFaculty of Electrical Engineering Department of Circuit Theory Multi-robot Systems  \nMachine learning for fast motion planning  \nBachelor’s Thesis  \nJon´aˇs Kˇr´ıˇz  \nPrague, May 2023  \nStudy programme: Medical Electronics and Bioinformatics  \nSupervisor: Ing. Vojtˇech Von´asek, Ph.D.  \nBACHELOR‘S THESIS ASSIGNMENT  \nI. Personal and study details  \nStudent's name: Kříž Jonáš Personal ID number: 499344  \nFaculty / Institute: Faculty of Electrical Engineering Department / Institute: Department of Circuit Theory Study program: Medical Electronics and Bioinformatics  \nII. Bachelor’s thesis details  \n| Bachelor’s thesis title in English:\u003Cbr>Machine learning for fast motion planning\u003Cbr>Bachelor’s thesis title in Czech:\u003Cbr>Využití metod strojového učení pro rychlé plánování pohybu\u003Cbr>Guidelines:\u003Cbr>1. Get familiar with path planning problem [1], focus on path planning for 3D objects. Get familiar with neural networks for regression.\u003Cbr>2. Implement a sampling-based method, e.g. , RRT, PRM, or one of its variants [2] .\u003Cbr>3. Implement a method that can sample along a predefined path or an approximate solution [3,4] .\u003Cbr>4. Design a method to suggest probability of sampling using a neural network (NN) . NN will be trained using found solutions, it should provide hints where the searched space should be sampled.\u003Cbr>5. Verify the performance of the method from 4) on the dataset (will be provided by the supervisor) . Compare the method from 4) against suitable methods from the OMPL benchmark [5] .\u003Cbr>6. Adapt the method from 4) to protein data in the protein-docking through protein tunnels [6] . The dataset and models of the molecules will be provided by the supervisor. Compare the method 5) against RRT-based search (will be provided by the supervisor) .\u003Cbr>Bibliography / sources: |  |  |\n| --- | --- | --- |\n|  | 1. LaValle, Steven M. Planning algorithms. Cambridge university press, 2006.\u003Cbr>2. Elbanhawi, Mohamed, and Milan Simic. 'Sampling-based robot motion planning: A review.' Ieee access 2 (2014): 56-77.\u003Cbr>3. J. Denny, R. Sandström, A. Bregger, and N. M. Amato. Dynamic region-biased rapidly-exploring random trees. In Twelfth International Workshop on the Algorithmic Founda-tions of Robotics (WAFR), 2016.\u003Cbr>4. V Vonásek, R Pěnička and B Kozlíková . Searching Multiple Approximate Solutions in Configuration Space to Guide Sampling-Based Motion Planning. Journal of Intelligent & Robotic Systems 100:1547-1543, 2020\u003Cbr>5. I. A. Sucan, M. Moll and L. E. Kavraki, 'The Open Motion Planning Library,' in IEEE Robotics & Automation Magazine, vol. 19, no. 4, pp. 72-82, Dec. 2012, doi: 10. 1109/MRA.2012.2205651.\u003Cbr>6. Vavra O, Filipovic J, Plhak J, Bednar D, Marques SM, Brezovsky J, Stourac J, Matyska L, Damborsky J. CaverDock: a molecular docking-based tool to analyse ligand transport through protein tunnels and channels. Bioinformatics. 2019 Dec 1;35(23):4986-4993 . doi: 10. 1093/bioinformatics/btz386 . PMID: 31077297. |  |\n|  |  |  |\n\nCVUT-CZ-ZBP-2015 .1 Page 1 from 2 © ČVUT v Praze, Design: ČVUT v Praze, VIC  \n\n|  |  |  |\n| --- | --- | --- |\n| Name and workplace of bachelor’s thesis supervisor:\u003Cbr>Ing. Vojtěch Vonásek, Ph.D. Multi-robot Systems FEE\u003Cbr>Name and workplace of second bachelor’s thesis supervisor or consultant:\u003Cbr>Date of bachelor’s thesis assignment: 31.01.2023 Deadline for bachelor thesis submission: 26.05.2023 Assignment valid until: 22.09.2024\u003Cbr> |  |  |\n| Ing. Vojtěch Vonásek, Ph. D. Supervisor’s signature | doc. Ing. Radoslav Bortel, Ph.D. Head of department’s signature | prof. Mgr. Petr Páta, Ph. D. Dean’s signature |\n\nIII. Assignment receipt  \nThe student acknowledges that the bachelor’s thesis is an individual work. The student must produce his thesis without the assistance of others,  \nwith the exception of provided consultations. Within the bachelor’s thesis, the author must state the names of consultants and include a list of references.  \n.  \nDate of assignment receipt Student’s","cbCaipGWc0PJAbkk","https://ap.wps.com/l/cbCaipGWc0PJAbkk","pdf",10556360,1,80,"English","en",105,"# Bachelor’s thesis assignment\n## Personal and study details\n## Bachelor’s thesis details\n## Assignment receipt\n## Acknowledgments and declaration","[{\"question\":\"What problem does the thesis address?\",\"answer\":\"The thesis addresses the computational challenge of fast motion planning, especially in high degrees of freedom.\"},{\"question\":\"What solution approach is proposed?\",\"answer\":\"It proposes six new motion-planning algorithms, including methods that use machine learning and neural networks to guide sampling and accelerate planning.\"},{\"question\":\"How is the method validated and applied?\",\"answer\":\"Performance is evaluated on a provided dataset and compared against suitable approaches using the OMPL benchmark, and then adapted to protein data for docking through protein tunnels.\"}]","Machine learning for fast motion planning - Bachelor’s Thesis | PDF",1785675380,202,{"code":4,"msg":31,"data":32},"ok",{"site_id":24,"language":23,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"machine-learning-for-fast-motion-planning-bachelors-thesis","",{"@graph":36,"@context":85},[37,54,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,51],{"item":41,"name":42,"@type":43,"position":20},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":50},"https://docshare.wps.com/document/technology/",3,{"item":52,"name":13,"@type":43,"position":53},"https://docshare.wps.com/document/machine-learning-for-fast-motion-planning-bachelors-thesis/117363/",4,{"url":52,"name":13,"@type":55,"author":56,"headline":13,"publisher":58,"fileFormat":61,"inLanguage":23,"description":14,"dateModified":62,"datePublished":62,"encodingFormat":61,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":57},"Person",{"url":41,"name":59,"@type":60},"DocShare","Organization","application/pdf","2026-08-02",true,{"@type":65,"interactionType":66,"userInteractionCount":4},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"What problem does the thesis address?","Question",{"text":75,"@type":76},"The thesis addresses the computational challenge of fast motion planning, especially in high degrees of freedom.","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"What solution approach is proposed?",{"text":80,"@type":76},"It proposes six new motion-planning algorithms, including methods that use machine learning and neural networks to guide sampling and accelerate planning.",{"name":82,"@type":73,"acceptedAnswer":83},"How is the method validated and applied?",{"text":84,"@type":76},"Performance is evaluated on a provided dataset and compared against suitable approaches using the OMPL benchmark, and then adapted to protein data for docking through protein tunnels.","https://schema.org",{"og:url":52,"og:type":87,"og:title":13,"og:site_name":59,"og:description":14},"article",{"robots":89,"canonical":52},"index,follow",{"doc_id":7,"site_id":24},{"code":4,"msg":5,"data":92},[93,97,100,104,109,112,117,122,127,130,134],{"id":20,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":47,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":21,"slug":99},"Literature","literature",{"id":53,"doc_module":4,"doc_module_name":46,"category_name":101,"show_sort_weight":102,"slug":103},"Exam",70,"exam",{"id":105,"doc_module":4,"doc_module_name":46,"category_name":106,"show_sort_weight":107,"slug":108},5,"Comic",60,"comic",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":110,"slug":111},50,"technology",{"id":113,"doc_module":4,"doc_module_name":46,"category_name":114,"show_sort_weight":115,"slug":116},7,"Healthcare",40,"healthcare",{"id":118,"doc_module":4,"doc_module_name":46,"category_name":119,"show_sort_weight":120,"slug":121},8,"Research & Report",30,"research-report",{"id":123,"doc_module":4,"doc_module_name":46,"category_name":124,"show_sort_weight":125,"slug":126},9,"Religion & Spirituality",20,"religion-spirituality",{"id":125,"doc_module":4,"doc_module_name":46,"category_name":128,"show_sort_weight":125,"slug":129},"World Cup","world-cup",{"id":131,"doc_module":4,"doc_module_name":46,"category_name":132,"show_sort_weight":131,"slug":133},10,"Lifestyle","lifestyle",{"id":135,"doc_module":4,"doc_module_name":46,"category_name":136,"show_sort_weight":105,"slug":137},19,"General","general"]