Class meetings: | Mondays, Wednesdays, 1:25-2:45PM, NSH 1305 |
Who | |
Maxim Likhachev |
Who | |
Muhammad Suhail Saleem | |
Rishi Veerapaneni |
Who | Location | Hours |
Instructor | Online | By appointment |
TA Muhammad Suhail Saleem | NSH 1505 | Thursday 10AM-11AM |
TA Rishi Veerapaneni | NSH A507 | Monday 3-4PM |
Three homeworks | 33% |
Exam | 20% |
In-class pop quizzes | 10% |
Final project | 32% |
Participation | 5% |
Date | Topic | Slides | Homeworks | Additional Info |
8/29 (Mon) | Introduction, What is Planning, Role of planning in Robots. | slides | - |
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9/1 (Wed) | Planning Representations: Implicit vs. Explicit Graphs; Skeletonization, Cell decomposition, Lattice-based Graphs | slides | - |
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9/5 (Mon) | LABOR DAY: NO CLASS | - | - |
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9/7 (Wed) | Search Algorithms: A*, Multi-goal A*, Weighted A*, Backward A* | slides | - |
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9/12 (Mon) | Search Algorithms: A*, Multi-goal A*, Weighted A*, Backward A* (cont'd) | - | - |
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9/14 (Wed) | Search Algorithms: Heuristic Functions, Multi-Heuristic A* | slides | - |
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9/19 (Mon) | Search Algorithms: Heuristic Functions, Multi-Heuristic A* (cont'd) | - | - |
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9/21 (Wed) | Interleaving Planning and Execution: Anytime and Incremental A* | slides | - |
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9/26 (Mon) | Interleaving Planning and Execution: Real-time Heuristic Search | slides | - |
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9/28 (Wed) | Case Study: Planning for Autonomous Driving | slides | - |
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10/3 (Mon) | Case Study: Planning for Autonomous Driving (cont'd) | - | - |
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10/5 (Wed) | Planning Representations: Probabilistic Roadmaps for Continuous Spaces | slides | - |
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10/10 (Mon) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* | slides | - |
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10/12 (Wed) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* (cont'd) | - | - |
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10/17 (Mon) | FALL BREAK: NO CLASS | - | - |
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10/19 (Wed) | FALL BREAK: NO CLASS | - | - |
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10/24 (Mon) | Case Study: Planning for Mobile Manipulators and Legged Robots | slides | - |
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10/26 (Wed) | Search Algorithms: Markov Property, Dependent Variables | slides | - |
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10/31 (Mon) | Case Study: Planning for Coverage, Mapping and Surveyal | slides | - |
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11/2 (Wed) | Presentation of Final Project Ideas | - | - |
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11/7 (Mon) | Planning Representations: Symbolic Representation for Task Planning | slides | - |
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11/9 (Wed) | Search Algorithms: Planning on Symbolic Representations | slides | - |
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11/14 (Mon) | Planning under Uncertainty: Minimax Formulation | slides | - |
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11/16 (Wed) | Exam | - | - |
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11/21 (Mon) | Planning under Uncertainty: Expected Cost Formulation, Solving MDPs (guest lecture by Alex LaGrassa) | slides | - |
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11/23 (Wed) | NO CLASS, Happy Thanksgiving! | - | - |
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11/28 (Mon) | Planning under Uncertainty: Partially-Observable Markov Decision Processes | slides | - |
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11/30 (Wed) | Planning under Uncertainty: Partially-Observable Markov Decision Processes (cont'd) | - | - |
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12/5 (Mon) | Multi-Robot Planning | slides | - |
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