Class meetings: | Mondays, Wednesdays, 1:30-2:50PM, NSH 3002 |
Who | |
Maxim Likhachev |
Who | |
Navyata Sanghvi |
Who | Location | Hours |
Navyata | Smith 208 | Mon 4-4:30PM and Thu 2-2:30PM |
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 |
1/13 (Mon) | Introduction, What is Robot Planning? | slides | - |
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1/15 (Wed) | Planning Representations: Skeleton- and Grid-based Graphs | slides | - |
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1/20 (Mon) | MLK Day - NO CLASS | - | - |
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1/23 (Wed) | NO CLASS | - | - |
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1/27 (Mon) | Search Algorithms: Uninformed A* Search | slides | - |
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1/29 (Wed) | Search Algorithms: A* Search | slides | - |
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2/3 (Mon) | Search Algorithms: Heuristics, Backward A*, Weighted A* Search | slides | - |
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2/5 (Wed) | Interleaving Planning and Execution: Anytime Heuristic Search | slides | - |
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2/10 (Mon) | Interleaving Planning and Execution: Incremental Heuristic Search | slides | - |
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2/12 (Wed) | Interleaving Planning and Execution: Real-time Heuristic Search | slides | - |
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2/17 (Mon) | Planning Representations: Lattice-based Graphs, Explicit vs. Implicit Graphs | slides | - |
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2/19 (Wed) | Case Study: Planning for Autonomous Driving | slides | - |
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2/24 (Mon) | Planning Representations: Probabilistic Roadmaps for Continuous Spaces | slides | - |
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2/26 (Wed) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* | slides | - |
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3/2 (Mon) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* (cont'd) | - | - |
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3/4 (Wed) | Case Study: Planning for Mobile Manipulators and Articulated Robots | slides | - |
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3/9 (Mon) | SPRING BREAK: NO CLASSES | - | - |
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3/11 (Wed) | SPRING BREAK: NO CLASSES | - | - |
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3/16 (Mon) | CLASSES CANCELED | - | - |
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3/18 (Wed) | Search Algorithms: Multi-goal A* | slides | - |
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3/23 (Mon) | Case Study: Planning for Coverage, Mapping and Surveyal | slides | - |
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3/25 (Wed) | Planning Representations: Symbolic Representation for Task Planning | slides | - |
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3/30 (Mon) | Search Algorithms: Planning on Symbolic Representations | slides | - |
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4/1 (Wed) | Search Algorithms: Planning on Symbolic Representations (cont'd) | - | - |
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4/6 (Mon) | Presentation of Final Project Proposals | - | - |
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4/8 (Wed) | Planning under Uncertainty: Minimax Formulation | slides | - |
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4/13 (Mon) | Planning under Uncertainty: Expected Value Formulation | slides | - |
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4/15 (Wed) | Planning under Uncertainty: Solving Markov Decision Processes | slides | - |
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4/17 (Fri) | Planning under Uncertainty: Solving Markov Decision Processes (cont'd) | - | - |
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4/20 (Mon) | Exam | - | - |
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4/22 (Wed) | Multi-Robot Planning | slides | - |
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4/27 (Mon) | Multi-Robot Planning (cont'd) | - | - |
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