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Motion-Planning Algorithms and Foundations
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| Jan 22 |
Course Overview, Bug Algorithms |
[pdf], [pdf] (Chapters 1-2) |
Hw1 Out |
| Jan 29 |
Configuration Space |
[pdf] (Chapter 3) |
Kuffner 2004 |
| Feb 05 |
Forward Kinematics |
[pdf], [pdf] (Chapter 3) |
[DH-Deriv], [DH-YouTube] |
| Feb 12 |
Inverse Kinematics |
[pdf] (Chapters 3-4) |
[IK-Deriv]
Hw1 Due, Hw2 Out |
| Feb 19 |
Potential Fields |
[pdf] (Chapter 4) |
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| Feb 26 |
Deterministic Roadmap Planners |
[pdf] Chapters 5-6 |
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| Mar 05 |
Probabilistic Planners |
[pdf] (Chapter 7) |
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| Mar 12 |
Spring Break |
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| Mar 19 |
Exam1 |
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Advanced Motion Planning
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| Mar 26 |
Planning with Kinematic Constraints |
[pdf] (Chapter 10) |
Hw2 Due; Hw3 Out |
| Apr 02 |
Planning with Kinodynamic Constraints |
[pdf], Lavalle (Chapter 10) |
Papers |
| Apr 09 |
Multi-Robot Planning |
[pdf] (Chapter 7.5) |
Finalize paper selection |
| Apr 16 |
Manipulation Planning
Paper Presentations |
[pdf], Fuzzy PRM , WGR Bi-RRT |
Project Topic Selection |
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Localization and Mapping
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| Apr 23 |
Uncertainty, Bayesian Methods |
[pdf] (Chapter 9) |
Hw3 Due |
| Apr 30 |
Kalman Filtering, Mapping, SLAM |
[pdf] (Chapter 8), Particle Filters, A nice paper
|
Exam2, Short Progress Update |
| May 14 |
Project Presentations |
IN 136 4:30 - 7:15 pm,
[Demos] |
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