| Jan. 27 |
Introduction and Course Overview |
[pdf] (Chapter 1) |
Hw1 Out (blackboard) |
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Basic Motion-Planning Algorithms and Foundations
|
| Feb 03 |
Bug Algorithms |
[pdf] (Chapter 2) |
|
| Feb 10 |
Configuration Space |
[pdf] |
Hw1 Due, Kuffner 2004 |
| Feb 17 |
Forward, Inverse Kinematics |
[pdf] (Chapter 3.1-3.4) |
[DH-Deriv], [DH-YouTube],[IK-Deriv] |
| Feb 24 |
Potential Fields, Inverse Kinematics |
[pdf] (Chapter 4) |
Hw2 Out |
| Mar 03 |
Class cancelled due to snow |
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| Mar 10 |
Spring Break |
|
|
| Mar 17 |
Deterministic Roadmap Planners |
[pdf] (Chapters 5-6) |
Hw2 Due on Mar 21, 11:59 pm |
| Mar 24 |
Exam |
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|
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Sampling-based and Probabilistic Motion Planning
|
| Mar 31 |
Probabilistic Roadmap |
[pdf] (Chapter 7) |
Hw3 Out |
| Apr 07 |
Random Trees |
[pdf], PRM Proof |
|
|
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Advanced Motion Planning
|
| Apr 14 |
Planning with Kinodynamic Constraints |
[pdf], Lavalle |
Hw3 Due (April 18, 11:59 pm) |
| Apr 21 |
Multi-Robot Planning, Manipulation Planning |
[pdf], [pdf], Fuzzy PRM , WGR Bi-RRT |
Papers |
| Apr 28 |
Paper Presentations |
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Localization and Mapping
|
| May 05 |
Perception, Representation of Uncertainty |
[pdf], [pdf] |
Project Topic Selection |
| May 08 |
Bayesian Methods, SLAM |
[pdf], Particle Filters, A nice paper
|
Short Progress Update |
| May 12 |
Project Presentations |
[Demos] |
Projects due on May 12 |
