CS689 Syllabus


  • Instructor: Amarda Shehu amarda\AT\cs.gmu.edu
    Place and Time: Innovation Hall 134, M 4:30-7:10 pm
    Office Hours: M 2:30-4:30 pm

Tentative Syllabus

  • Date Topic Reading Assignments
    Jan. 25 Introduction and Course Overview [pdf] (Chapter 1)
    Basic Motion-Planning Algorithms and Foundations
    Feb 01 Bug Algorithms [pdf] (Chapter 2)
    Feb 08 Configuration Space [pdf] Hw1 Out, Kuffner 2004
    Feb 15 Forward Kinematics [pdf] [DH-Deriv], [DH-YouTube]
    Feb 22 Inverse Kinematics [pdf] (Chapter 3.1-3.4) [IK-Deriv] Hw1 Due, Hw2 Out
    Feb 29 Potential Fields [pdf] (Chapter 4)
    Mar 07 Spring Break
    Mar 14 Deterministic Roadmap Planners [pdf] Chapters 5-6
    Sampling-based and Probabilistic Motion Planning
    Mar 21 Exam1
    Probabilistic Roadmap
    [pdf] (Chapter 7) Hw2 Due
    Mar 28 Random Trees [pdf], PRM Proof Hw3 Out
    Advanced Motion Planning
    Apr 04 Planning with Kinodynamic Constraints [pdf], Lavalle Papers
    Apr 11 Multi-Robot Planning [pdf] Finalize paper selection
    Apr 18 Manipulation Planning
    Paper Presentations
    [pdf], Fuzzy PRM , WGR Bi-RRT
    Localization and Mapping
    Apr 25 Perception, Range Sensing, Uncertainty [pdf] Hw3 Due
    Project Topic Selection
    May 02 Recursive Bayesian Filtering, SLAM [pdf], Particle Filters, A nice paper Short Progress Update
    May 04 Exam2
    Computational Biology
    [pdf] snow-day make-up class
    May 09 Project Presentations IN 134 4:30 - 6:30 pm,
    In place of final exam