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Week |
Day |
Topic |
Reading |
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Week
1 8/23-8/25 |
Mon |
Intro,
Course Overview, Assignment Explanation, Book Review, Path, Start-Goal Mapping, Coverage,
Completeness, Line of Sight, Some Notations |
Chap
1 |
|
Wed |
Bug
1, Bug 2, Tan Bug, Wall Follower |
Chap
2, Chap D |
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Week
2 8/30-9/1 |
Mon |
Configuration
Space |
Chap
3, Cspace generator |
|
Wed |
Potential
Functions: Add/Rep, Distance, Gradient Descent, Potential Functions in
Non-Euclidean spaces Wavefront Planner |
Chap
4 |
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Week
3 9/6-9/8 |
Mon |
Labor
Day – No class |
|
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Wed |
Return
to Configuration Space (Some Manifold Theory) |
Chap
3 |
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Week
4 9/13-9/15 |
Mon |
Navigation
Functions, Harmonic Functions |
Chap
4, Real-Time
Obstacle Avoidance Using Harmonic Potential Functions Jin-Oh Kim and Pradeep K. Khosla, IEEE
Transactions on Robotics and Automation, June 1992, Glenn Wagner |
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Wed |
Graph
Search, A*, Weighted A* |
Chap H, |
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Week
5 9/20-9/22 |
Mon |
Anytime
& Incremental Search (ARA*/D* Lite/Anytime D*) |
Chap
H Incremental A*, S. Koenig and M. Likhachev ARA*: Anytime A* with Provable Bounds on Sub-Optimality Maxim Likhachev, Geoff Gordon, and Sebastian Thrun Anytime Dynamic A*: An Anytime, Replanning Algorithm Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun |
|
Wed |
Real-time
Search (Agent centered search including LRTA* and RTAA*) |
Chap
H Real-Time
Adaptive A* Sven Koenig and Maxim Likhachev |
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Week
6 9/27-9/29 |
Mon |
Roadmaps:
Visibility Graph, Retracts, Retract-like, Incremental Construction |
Chap
5 |
|
Wed |
Retracts
in SE(2), |
Chap
5 |
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Week
7 10/4-10/6 |
Mon |
Exact
Cell Decomps: Trap, Boustrophedon (Coverage) |
Chap
6 |
|
Wed |
Voronoi
Diagrams in higher dimensions Silhouette Methods |
Chap 5 (reverse order) |
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|
Week
8 10/11-10/13 |
Mon |
Numerical
Potential Functions and simulated annealing |
Numerical Potential Field
Techniques for Robot Path Planning. J. Barraquand, B. Langlois, and J.C. Latombe. IEEE Transactions on Systems, Man, and Cybernetics, 22(2):224-241, 1992 Benn Morse |
|
Wed |
Discussion
of coverage for painting cars, Cellular decompositions, baustohedrons |
Chap 6 |
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Week
9 10/18-10/20 |
Mon |
Probablistic Roadmaps for path planning Sample
based methods: Potential functions, begin PRMS |
Probabilistic Roadmaps for Path Planning in
High-Dimensional Configuration Spaces. L.E. Kavraki,
P. Svestka, J.C. Latombe,
and M. Overmars. IEEE Transactions on Robotics
and Automation, 12(4):566-580, 1996.
Analysis of Probabilistic Roadmaps for Path
Planning. L.E. Kavraki, M. Kolountzakis,
and J.C. Latombe. IEEE Tr. on Robotics and
Automation, 14(1):166-171, Feb. 1998. Yamuna |
|
Wed |
Lattice
based approaches, Mikhail |
Put
a paper here |
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Week
10 10/25-10/27 |
Mon |
RRT,
RRG, RRT* RRTs |
Chap
7 Randomized Kinodynamic Planning Steve LaValle and James Kuffner (original RRT paper; IJRR (20): 5, 2001, Incremental
Sampling-based Algorithms for optimal motion planning Laura
Lindzey |
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Wed |
Controls
and Probability Primer Intro
to control theory |
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Week
11 11/1-11/3 |
Mon |
Path
Sets and Kalman Filtering |
Ross’s
WAFR paper Chap
8 |
|
Wed |
Kalman
Filtering and Bayesian Methods |
Chap
8 |
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Week
12 11/8-11/10 |
Mon |
Bayesian
Methods |
Chap
9 |
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Wed |
On
Nonholonomic Mobile Robots and Optimal Maneuvering Lagrangian
Dynamics |
Chap
10 Adapting
probabilistic roadmaps to handle uncertain maps Julian
Rojas |
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Week
13 11/15-11/17 |
Mon |
Controls
and Path Planning Lagrangian
dynamics continued Nonholonomic constraints |
Chap
10 Maneuver-based
motion planning for nonlinear systems with symmetries (Frazoli) Jared |
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Wed |
SLAM
revisited |
James
Lee and Kartikeya Goyal: Estimating
uncertain spatial relationships in robotics |
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Week
14 11/22-11/24 |
Mon |
Controls
and Path Planning |
LQR-Trees:
Feedback motion planning on sparse randomized trees, Russ Tedrake, Ian R. Manchester, Mark M. Tobenkin,
and John W. Roberts. | International Journal of Robotics Research,
29:1038-1052, July 2010 JW |
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Wed |
No
class: Pre-Tday |
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Week
15 11/29-12/1 |
Mon |
Non-holonomic constraints |
Chap
12 (beginning) On nonholonomic mobile robots and optimal maneuvering, Barraquand and Latombe Justin Teems |
|
Wed |
Combined
planning and control Control
with non-holonomic constraints |
The
Path-of-probability Algorithm for Steering and Feedback Control of Flexible
Needles, Wooram Park, Yunfeng
Wang, and Gregory S. Chirikjian The International Journal of Robotics
Research 2010;29 813-830 Ron Alterovitz,
Michael Branicky, and Ken Goldberg, "Motion
Planning Under Uncertainty for Image-Guided Medical Needle Steering,"
International Journal of Robotics Research, vol. 27, no. 11-12, pp.
1361-1374, Nov. 2008. Needle
Steering Nate
Wood: Needle steering |
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