15-887A: AI Planning, Execution, and Learning
Syllabus
I. Planning in Deterministic Domains
- Representation and search
- Classical planning algorithms: Linear, Non-linear, Partial Order Planning
- Recent planning algorithms: GraphPlan, SATPlan, OBBD-base planning
- Hierarchical and abstraction planning
II. Planning under Uncertainty
- Representation and search
- Conditional planning
- Probabilistic planning with Markov Models (MDPs and POMDPs)
- Planning and learning
III. Plan Execution
- Reactive planning
- Execution architectures
- Execution Monitoring
- Replanning (Case-based, transformational)
- Planning, execution and learning
IV. Robot Planning
- Path planning
- Sensor-based planning
- Multi-agent coordination