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Basic Motion-Planning Algorithms and Foundations
|
| Aug. 27 |
Introduction and Course Overview |
[pdf] (Chapter 1) |
Hw1 Out |
| Aug. 29 |
Bug Algorithms: Bug0, Bug1 |
[pdf] (Chapter 2) |
|
| Sep. 05 |
Bug 2, Tangent Bug |
[pdf] (Chapter 2) |
|
| Sep. 10 |
Configuration Space |
[pdf] (Chapter 3) |
Kuffner 2004 |
| Sep. 12 |
Forward Kinematics |
[pdf] (Chapter 3) |
[DH-Deriv], [DH-YouTube] |
| Sep. 17 |
Minkowski Operations |
[pdf] (Chapter 3) |
|
| Sep. 19 |
Potential Fields |
[pdf] (Chapter 4) |
|
| Sep. 24 |
Potential Fields contd |
[pdf] (Chapter 4) |
Hw1 Due |
| Sep. 26 |
Deterministic Roadmap Planners |
[pdf] Chapters 5-6 |
|
| Oct. 01 |
Deterministic Roadmap Planners contd |
[pdf] Chapters 5-6 |
|
| Oct. 03 |
Exam 1 |
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Hw2 Out |
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Sampling-based and Probabilistic Motion Planning
|
| Oct. 09 |
Probabilistic Roadmap |
[pdf] (Chapter 7) |
PRM Proof |
| Oct. 10 |
Biased Sampling |
[pdf] |
|
| Oct. 15 |
Random Trees |
[pdf] |
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Advanced Motion Planning
|
| Oct. 17 |
Planning with Kinematic Constraints |
[pdf], Lavalle |
|
| Oct. 22 |
Wheeled Systems |
[pdf], Lavalle |
|
| Oct. 24 |
Planning with Kinodynamic Constraints |
[pdf], Lavalle |
Hw2 Due, Hw3 Out
|
| Oct. 29 |
Multi-Robot Planning |
[pdf] |
|
| Nov. 05 |
Multi-Robot Planning contd |
[pdf] |
|
| Nov. 07 |
Manipulation Planning |
[pdf], Fuzzy PRM , WGR Bi-RRT |
|
| Nov. 12 |
Topic Selection Presentation |
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Localization and Mapping
|
| Nov. 14 |
Perception, Range Sensing |
[pdf] |
Hw3 Due |
| Nov. 19 |
Exam2 |
|
|
| Nov. 26 |
Modeling Uncertainty, Probability |
[pdf] |
|
| Nov. 28 |
Sensor Model and Hands-on Problems |
[pdf] |
|
| Dec. 03 |
Action Model, Hands-on Problems, and Recursive Bayesian Filtering |
[pdf]
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|
| Dec. 05 |
SLAM, Kalman Filters, and Particle Filters |
[pdf], Particle Filters, A nice paper
|
Project Preliminary Report |
| Dec. 17 |
Project Demos and Presentations |
[Demos] |
7:30 am - 10:15 am
In place of final exam |
