CS689 Syllabus


  • Instructor: Amarda Shehu amarda\AT\cs.gmu.edu
    Place and Time: Art and Design Building L008, M 4:30-7:10 pm
    Office Hours: M 2:30-4:30 pm

Tentative Syllabus

  • Date Topic Reading Assignments
    Jan. 27 Introduction and Course Overview [pdf] (Chapter 1) Hw1 Out (blackboard)
    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
    Mar 10 Spring Break
    Mar 17 Deterministic Roadmap Planners [pdf] (Chapters 5-6) Hw2 Due on Mar 21, 11:59 pm
    Mar 24 Exam  
    Sampling-based and Probabilistic Motion Planning
    Mar 31 Probabilistic Roadmap [pdf] (Chapter 7) Hw3 Out
    Apr 07 Random Trees [pdf], PRM Proof
    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
    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