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ECE 4984/5984: (Advanced) Robot Motion Planning
Planning Algorithms. LaValle. Cambridge University Press
Reinforcement Learning. Sutton and Barto. MIT Press
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Instructor: Pratap Tokekar
Optimal Control Theory. Kirk. Dover.
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Tue/Th 5PM - 6:15PM Randolph 331
Principles of Robot Motion. Choset et al. MIT Press
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DateLecturePrimary ReadingFurther ReadingSubmissionsImportant Dates
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Tue, Jan 17Introduction & BUG algorithmsCh 2.1 in [Choset el al.]Ch 12.3.3 in [LaValle]
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Thu, Jan 19
Dynamic programming: optimal planning on known graphs/environments
Ch 3 in [Kirk]
Ch 15 in [CLRS], Ch 2.3 in [LaValle]
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Tue, Jan 24Dynamic programming + HJB + LQR controllerCh 3 in [Kirk]HW1 out
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Thu, Jan 26
Dijkstra + A*: optimal planning on known graphs/environments
Ch 2.2 in [LaValle]
Ch H in [Choset et al.]
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Tue, Jan 31
Dijkstra + A*: optimal planning on known graphs/environments
Ch 2.2 in [LaValle]
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Thu, Feb 2
Weighted A*, Anytime A*: fast but sub-optimal planning on known graphs
Section 2 of [Likhachev et al.]D*HW1 due Feb 6
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Tue, Feb 7Introduction to ROSHW2 out
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Thu, Feb 9Lecture Cancelled
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Tue, Feb 14
LPA* and D* Lite: planning on unknown or changing graphs/environments
[Koenig and Likhachev]
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Thu, Feb 16LPA*; shortest path roadmaps: building graphsCh 6.6.2 and 6.2.3 in [LaValle]HW2 due
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Tue, Feb 21More roadmaps; RRTsCh 6.2.4 and 6.3.2 in [LaValle]
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Thu, Feb 23RRTs: building randomized trees/graphsCh 5.5 in [LaValle]RRT*HW 3 outLast day to drop 2/27
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Tue, Feb 28RRTs: building randomized trees/graphs
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Thu, Mar 2RRTs: building randomized trees/graphs
Project proposal due Mar 3
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Tue, Mar 7No lecture
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Thu, Mar 9No lecture
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Tue, Mar 14
Dubins' car, Reed-Shepps car, differential drive: kinematic models for robots
Ch 13 in [LaValle]
HW 3 due Mar 13; HW4 out
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Thu, Mar 16
Sampling-based motion planning for differential constraints
Ch 14.3 in [LaValle]Last day to resign 3/20
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Tue, Mar 21Lie Brackets; SLTCCh 12.1-12.3 in [Choset]Ch 15.4.2 in [LaValle]
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Thu, Mar 23
Markov Decision Processes: planning with noisy actuators
Ch 3.6, 3.7, 4.4, 6.1 in [Sutton & Barto]
http://planning.cs.uiuc.edu/ch10.pdf
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Tue, Mar 28
MDPs (value iteration): planning with noisy actuators
HW4 due; HW5 out
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Thu, Mar 30Reinforcement learning
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Tue, Apr 4
POMDPs: planning with noisy actuators and noisy sensing
Ch 11 in [LaValle]
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Thu, Apr 6Mini-Project Lab
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Tue, Apr 11
POMDPs: planning with noisy actuators and noisy sensing
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Thu, Apr 13
Kalman filter: robot localization under noisy sensing
Ch 11 in [LaValle]
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Tue, Apr 18
Kalman filter: robot localization under noisy sensing
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Thu, Apr 20LQR + LQG control
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Tue, Apr 25
Belief space planning: planning with Kalman filters
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Thu, Apr 27Project Presentations
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Tue, May 2
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May 9Final project reports due
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