| Aug 27 |
Introduction and Course Overview |
[pdf] (Chapter 1) |
|
|
|
Basic Motion-Planning Algorithms and Foundations
|
| Aug 29, Sep 03 |
Bug Algorithms |
[pdf] (Chapter 2) |
Hw1 Out (blackboard) |
| Sep 05, 10 |
Configuration Space, Forward Kinematics |
[pdf] (Chapter 3.1-3.4) |
|
| Sep 12, 17 |
Potential Fields, Inverse Kinematics |
[pdf] (Chapter 4) |
|
| Sep 19 |
Roadmaps (Deterministic Planners) |
[pdf] (Chapters 5-6) |
|
|
|
Sampling-based and Probabilistic Motion Planning
|
| Sep 24, 26 |
Sampling-based Planners: Probabilistic Roadmap |
[pdf] (Chapter 7) |
Hw1 Due, Hw2 Out |
| Oct 01, 03 |
(Probabilistic) Tree Approaches |
[pdf], PRM Proof |
Reading and Presenting |
| Oct 08, 10 |
Paper presentations on Oct. 10 |
Papers |
|
| Oct 17 |
Exam |
|
|
|
|
Advanced Motion Planning
|
| Oct 22, 24 |
Multi-Robot Planning |
[pdf] |
Hw2 Due, Hw3 Out |
| Oct 29, 31 |
Manipulation Planning |
[pdf] |
Fuzzy PRM , WGR Bi-RRT |
| Nov 05, 07 |
Planning with Kinematic and Dynamic Constraints |
[pdf],Lavalle |
Project Ideas |
| Nov 12, 14 |
Task Planning/AI/Discrete Planning |
[pdf] |
Hw3 Due, Project Topic and Proposed Approach |
|
|
Localization and Mapping
|
| Nov 19, 21 |
Representation of Uncertainty, Sensors |
[pdf], [pdf] |
Particle Filters |
| Nov 26, Dec 03 |
Bayesian Methods, Kalman Filtering, Mapping and SLAM |
[pdf], [pdf] |
A nice paper |
| Dec 05 |
Project Presentations |
|
Write-ups due on Dec 17 |
