Instructor: Jason O'Kane
Tuesdays and Thursdays, 12:30-1:45pm, 300 Main Street, Room B102
The format will mix lectures by the instructor and student-led discussions of important and interesting published research papers in the field.
| Due Date | |
| Homework 1 | Sep 20 |
| Homework 2 | Oct 18 |
| Past | ||
| Date | Topic | Other |
| Aug 18 |
1. What to expect from this course 1A. What is a robot? 1B. Basic ingredients of planning problems |
syllabus, first-day survey |
| Aug 23 |
2. Discrete Deterministic Planning 2A. Notation 2B. Planning as graph search |
|
| Aug 25 |
2C. Planning with costs 3. Value iteration 3A. Determinisitc value iteration |
|
| Aug 30 |
3A. Determinisitc value iteration (examples, termination actions) 3B. Value iteration on continuous spaces |
|
| Sep 1 |
4. Unpredictable transitions 4A. Notation: A game against nature 4B. Nondeterministic value iteration |
|
| Sep 6 |
4C. Probabilistic value iteration |
|
| Sep 8 |
5. State uncertainty 5A. Initial conditions 5B. Sensing and observations |
|
| Sep 13 |
5C. Information spaces |
|
| Sep 15 |
5C. Information spaces (I-maps; derived I-states) 5D. Nondeterministic I-states (definition) |
|
| Sep 20 |
5D. Nondeterministic I-states (filtering) |
Homework 1 due |
| Sep 22 |
5D. Nondeterministic I-states (filtering; examples) |
|
| Sep 27 |
Guest speaker: Nick Stiffler on visibility-based pursuit-evasion |
|
| Sep 29 |
Library time: Work on Homework 1 |
|
| Oct 4 | 5E. Probabilistic I-states | |
| Oct 6 | Guest speaker: Jeremy Lewis on Minimalist Navigation. (Cancelled) | |
| Oct 11 | 6. What are planning algorithms good for? | |
| Oct 13 | 5E. Probabilistic I-states (updating; sufficient I-maps) | Project: topic (due 10/14) |
| Oct 18 | 7. Planning with I-states | Homework 2 due |
| Future | ||
| Oct 20 | Fall break: No classes | Project: related work |
| Oct 25 | 8. Reinforcement learning | Quiz |
| Oct 27 |
Presentation 1: Distance-optimal navigation in an unknown environment without sensing distances.
B. Tovar, R Murrieta, and S. M. LaValle.
IEEE Transactions on Robotics, 23(3):506-518,
June 2007.
[pdf] Presenter: Yang Song |
|
| Nov 1 |
Presentation 2: An Exploration of Sensorless Manipulation.
M. A. Erdmann and M. T. Mason.
IEEE Journal of Robotics and Automation, 4(4):369-379.
1988.
[pdf] Presenter: Jordan Bradshaw |
|
| Nov 3 |
Presentation 3: Landmark-Based Robot Navigation. A. Lazanas and J.-C. Latombe.
Algorithmica 13(5):472-501, 1995.
[pdf] Presenter: Keith Haynes |
|
| Nov 8 |
Presentation 4: Simplicial Dijkstra and A* Algorithms for Optimal Feedback Planning.
D. S. Yershov and S. M. LaValle
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
[pdf] Presenter: Yang Song |
|
| Nov 10 |
Presentation 5: Shadow Information Spaces: Combinatorial Filters for Tracking Targets J. Yu
and S. M. LaValle. IEEE Transactions on Robotics, to appear. [pdf] Presenter: Keith Haynes |
|
| Nov 15 |
Presentation 6: Communication-Assisted navigation in robotic swarms
F. Ducatelle, G. A. Di Caro, C. Pinciroli, F. Mondada, and L. Gambardella.
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
[pdf] Presenter: Jordan Bradshaw |
|
| Nov 17 |
Presentation 7: Exploration and Map-Building under Uncertainty with Multiple Heterogeneous Robots.
L. Munoz-Gomez, M. Alencastre-Miranda, R. Lopez-Padilla, and R. Murrieta-Cid.
IEEE International Conference on Robotics and Automation, 2011.
[pdf] Presenter: Yang Song |
|
| Nov 22 |
Presentation 8: Effect of sensor and actuator quality on robot swarm algorithm performance.
N. Hoff, R. Wood, and R. Nagpal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
[pdf] Presenter: Jordan Bradshaw |
Project: progress report |
| Nov 24 | Thanksgiving break: No classes | |
| Nov 29 |
Presentation 9: The Multi-robot Coverage Problem for Optimal Coordinated Search with an Unknown Number of Robots.
H. J. Min and N. Papanikolopoulos
IEEE International Conference on Robotics and Automation, 2011.
[pdf] Presenter: Keith Haynes |
|
| Dec 1 | Project presentations; Wrap-up; Evaluations | Project: presentation |
| Dec 5-9 | Exam week |
Project: exit interview Project: final report (due 12/5) |
F: Simple Robots with Minimal Sensing: From Local Visibility to Global Geometry. S. Suri, E. Vicari, and P. Widmayer. [pdf]
J: A Differential Game Approach to Planning in Adversarial Scenarios: A Case Study on Capture-the-Flag. H. Huang, J. Ding, W. Zhang, and C. J. Tomlin IEEE International Conference on Robotics and Automation, 2011. [pdf]