Completed: / exercises

Work Sessions Schedule

Lecture Date Place Topics Suggested Reading
10.03@12.15-14.00 L7 1. Course overview, introduction, Gridbot, discrete planning PA Ch 1,2.1,2.2.1
12.03@14.15-16.00 L5 2. Search methods, value iteration PA Ch 2.2,2.3.1
17.03@12.15-14.00 L7 3. Termination actions, plan executor, plan constructor, criticisms of Gridbot PA Ch 1.4,2.3
19.03@14.15-16.00 L5 4. Path planning intro, geometric modeling, collision detection, transforming robots PA Ch 3.1,3.2,3.3,5.3
QUIZ1, HW1
24.03@12.15-14.00 L7 5. Configuration spaces PA Ch 4.1-4.3,5.1
26.03@14.15-16.00 L5 6. Sampling-based planning PA Ch 5.4-5.6
QUIZ2, HW2
31.03@12.15-14.00 L7 7. Deterministic sampling, semicomplete and complete planners, path execution, velocity constraints, car-like robot PA Ch 5.2,6.1,6.2,13.1
02.04@14.15-16.00 L5 8. Acceleration constraints, phase space, state transition equation, planning with differential constraints PA Ch 14.1,14.3
QUIZ3
07.04@12.15-14.00 L7 9. Planning with differential constraints, path planning extensions, prediction uncertainty PA Ch 7,10.1,14.4
09.04@14.15-16.00 L5 10. Planning with prediction uncertainty, value iteration, reinforcement learning PA Ch 10.1,10.2,10.4
QUIZ4, HW3
14.04@12.15-14.00 L7 11. Information spaces PA Ch 11
16.04@14.15-16.00 L5 12. Minimal information spaces, active localization and SLAM PA Ch 11,12.2-12.3.
QUIZ5, HW4
21.04@12.15-14.00 L7 13. Billiard motions, gap navigation trees, summary PA Ch 12.3
23.04@14.15-16.00 L5 14. Review
QUIZ6
28.04@16.00-19.00 L5 Final Exam
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