Class meetings: | Mondays, Wednesdays, 1:30-2:50PM, NSH 3002 |
Who | |
Maxim Likhachev |
Who | |
Shohin Mukherjee |
Who | Location | Hours |
Shohin | NSH 1502E | Mon & Thu, 9-10AM |
Maxim | NSH 3211 | By appointment or Friday around 10AM |
Three homeworks | 33% |
Exam | 20% |
In-class pop quizzes | 10% |
Final project | 32% |
Participation | 5% |
Date | Topic | Slides | Homeworks | Additional Info |
1/14 (Mon) | Introduction, What is Robot Planning? | slides | - |
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1/16 (Wed) | Planning Representations: Skeleton- and Grid-based Graphs | slides | - |
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1/21 (Mon) | MLK Day - NO CLASS | - | - |
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1/23 (Wed) | Search Algorithms: Uninformed A* Search | slides | - |
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1/28 (Mon) | Search Algorithms: A* Search | slides | - |
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1/30 (Wed) | NO CLASS DUE TO WEATHER | - | - |
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2/4 (Mon) | Search Algorithms: Heuristics, Backward A*, Weighted A* Search | slides | - |
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2/6 (Wed) | Interleaving Planning and Execution: Anytime Heuristic Search | slides | - |
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2/11 (Mon) | Interleaving Planning and Execution: Incremental Heuristic Search | slides | - |
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2/13 (Wed) | Interleaving Planning and Execution: Real-time Heuristic Search | slides | - |
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2/18 (Mon) | Planning Representations: Lattice-based Graphs, Explicit vs. Implicit Graphs | slides | - |
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2/20 (Wed) | Case Study: Planning for Autonomous Driving | slides | - |
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2/25 (Mon) | Planning Representations: Probabilistic Roadmaps for Continuous Spaces | slides | - |
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2/27 (Wed) | NO CLASS | - | - |
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3/4 (Mon) | Planning Representations/Search Algorithms: RRTs | slides | - |
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3/6 (Wed) | Case Study: Planning for Mobile Manipulators and Articulated Robots | slides | - |
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3/11 (Mon) | SPRING BREAK: NO CLASSES | - | - |
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3/13 (Wed) | SPRING BREAK: NO CLASSES | - | - |
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3/18 (Mon) | Search Algorithms: Multi-goal A*, IDA* | slides | - |
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3/20 (Mon) | Case Study: Planning for Coverage, Mapping and Surveyal | slides | - |
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3/25 (Mon) | Planning Representations: Symbolic Representation for Task Planning | slides | - |
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3/27 (Wed) | Presentation of Final Project Proposals | - | - |
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4/1 (Mon) | Search Algorithms: Planning on Symbolic Representations | slides | - |
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4/3 (Wed) | Planning under Uncertainty: Minimax Formulation | slides | - |
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4/8 (Mon) | Planning under Uncertainty: Expected Value Formulation | slides | - |
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4/10 (Wed) | Planning under Uncertainty: Solving Markov Decision Processes | slides | - |
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4/15 (Mon) | Planning under Uncertainty: Partially-Observable Markov Decision Processes | slides | - |
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4/17 (Wed) | Planning under Uncertainty: Partially-Observable Markov Decision Processes (cont'd) | Same slides | - |
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4/22 (Mon) | Exam | - | - |
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4/24 (Wed) | Multi-Robot Planning | slides | - |
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