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ECE 4984/5984: (Advanced) Robot Motion Planning
Regular Lectures by Tokekar
Planning Algorithms. LaValle. Cambridge University Press
Reinforcement Learning. Sutton and Barto. MIT Press
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Instructor: Pratap Tokekar
Guest lectures, student presentations, demosOptimal Control Theory. Kirk. Dover.
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Tue/Th 5PM - 6:15PM Pamplin Hall 2030
Principles of Robot Motion. Choset et al. MIT Press
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DateLecturePrimary ReadingFurther ReadingSubmissionsImportant Dates
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Tue, Aug 21Introduction & Bug Algorithms
http://motion.me.ucsb.edu/book-lrpk/pdfs/LecturesPlanningKinematics-FB+SLS-v0.91.pdf
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Thu, Aug 23Introduction to ROS
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Tue, Aug 28
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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Thu, Aug 30No class
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Tue, Sep 4Dijkstra + A*: optimal planning on known graphs/environmentsCh 2.2 in [LaValle]
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Thu, Sep 6Dijkstra + A*: optimal planning on known graphs/environmentsCh 2.2 in [LaValle]
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Tue, Sep 11
Weighted A*, Anytime A*: fast but sub-optimal planning on known graphs
Section 2 of [Likhachev et al.]
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Thu, Sep 13
LPA* and D* Lite: planning on unknown or changing graphs/environments
[Koenig and Likhachev]D*
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Tue, Sep 18Markov Decision Processes: planning with noisy actuatorsCh 3.6, 3.7, 4.4, 6.1 in [Sutton & Barto]
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Thu, Sep 20MDPs (value iteration): planning with noisy actuators
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Tue, Sep 25Reinforcement learning
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Thu, Sep 27Reinforcement learning
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Tue, Oct 2Deep reinforcement learning
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Thu, Oct 4Deep reinforcement learning
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Tue, Oct 9Deep reinforcement learning
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Thu, Oct 11Deep reinforcement learning
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Tue, Oct 16POMDPs: planning with noisy actuators and noisy sensingCh 11 in [LaValle]
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Thu, Oct 18No class
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Tue, Oct 23Kalman filter: robot localization under noisy sensingCh 11 in [LaValle]
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Thu, Oct 25Shortest path roadmaps: building graphsCh 6.6.2 and 6.2.3 in [LaValle]
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Tue, Oct 30RRTs: building randomized trees/graphsCh 5.5 in [LaValle]
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Thu, Nov 1RRTs: building randomized trees/graphsCh 5.5 in [LaValle]
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Tue, Nov 6Mini-Project Lab
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Thu, Nov 8Project Updates
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Tue, Nov 13
Dubins' car, Reed-Shepps car, differential drive: kinematic models for robots
Ch 13 in [LaValle]
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Thu, Nov 15Sampling-based motion planning for differential constraintsCh 14.3 in [LaValle]Ch 15.4.2 in [LaValle]
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Tue, Nov 20Thanksgiving break -- No lecture
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Thu, Nov 22Thanksgiving break -- No lecture
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Tue, Nov 27
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Thu, Nov 29Lie Brackets; SLTCCh 12.1-12.3 in [Choset]http://planning.cs.uiuc.edu/ch10.pdf
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Tue, Dec 4Project Presentations
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Shortest path roadmaps: building graphsCh 6.6.2 and 6.2.3 in [LaValle]
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RRTs: building randomized trees/graphsCh 5.5 in [LaValle]
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RRTs: building randomized trees/graphsCh 5.5 in [LaValle]
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