Class meetings: | Mondays, Wednesdays, 2:00-3:20PM, GHC 4211 |
Who | |
Maxim Likhachev |
Who | |
Manuj Trehan |
Who | Location | Hours |
Manuj | NSH A507 | Mon 4-5PM and Thu 11:30-12:30PM |
Maxim | NSH 3211 | By appointment |
Three homeworks | 33% |
Exam | 20% |
In-class pop quizzes | 10% |
Final project | 32% |
Participation | 5% |
Date | Topic | Slides | Homeworks | Additional Info |
1/18 (Wed) | Introduction, What is Robot Planning? | slides | - |
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1/23 (Mon) | Planning Representations: Skeleton- and Grid-based Graphs, Explicit vs. Implicit Graphs | slides | - |
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1/25 (Wed) | Search Algorithms: Uninformed A* Search | slides | - |
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1/30 (Mon) | Search Algorithms: A* Search, Multi-goal A* | slides | - |
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2/1 (Wed) | Search Algorithms: Heuristics, Backward A*, Weighted A* Search | slides | - |
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2/6 (Mon) | Interleaving Planning and Execution: Anytime Heuristic Search | slides | - |
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2/8 (Wed) | Interleaving Planning and Execution: Incremental Heuristic Search | slides | - |
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2/13 (Mon) | Interleaving Planning and Execution: Real-time Heuristic Search | slides | - |
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2/15 (Wed) | Planning Representations: Lattice-based Graphs | slides | - |
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2/20 (Mon) | Case Study: Planning for Autonomous Driving | slides | - |
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2/22 (Wed) | Planning Representations: Probabilistic Roadmaps for Continuous Spaces | slides | - |
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2/27 (Mon) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* | slides | - |
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3/1 (Wed) | Planning Representations/Search Algorithms: RRT, RRT-Connect, RRT* (cont'd) | - | - |
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3/6 (Mon) | SPRING BREAK: NO CLASSES | - | - |
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3/8 (Mon) | SPRING BREAK: NO CLASSES | - | - |
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3/13 (Mon) | Case Study: Planning for Mobile Manipulators and Articulated Robots | slides | - |
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3/15 (Wed) | Search Algorithms: Markov property, independent vs. dependent variables | - |
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3/20 (Mon) | Case Study: Planning for Coverage, Mapping and Surveyal | slides | - |
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3/22 (Wed) | Planning Representations: Symbolic Representation for Task Planning | slides | - |
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3/27 (Mon) | Search Algorithms: Planning on Symbolic Representations (guest lecture by Alex LaGrassa) | slides | - |
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3/29 (Wed) | Presentation of Final Project Proposals | - |
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4/3 (Mon) | Search Algorithms: Planning on Symbolic Representations (cont'd) | - | - |
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4/5 (Wed) | Planning under Uncertainty: Minimax Formulation | slides | - |
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4/10 (Mon) | NO CLASS | - | - |
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4/12 (Wed) | Planning under Uncertainty: Expected Value Formulation | slides | - |
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4/17 (Mon) | Exam | - | - |
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4/19 (Wed) | Planning under Uncertainty: Solving Markov Decision Processes | slides | - |
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4/24 (Mon) | Multi-Robot Planning | slides | - |
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