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Week |
Day |
Topic |
Work Covered |
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 |
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Chap 1 |
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Wed |
Bug 1, Bug 2, Tan Bug, Wall Follower |
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Chap 2, Chap D |
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Week 2 8/30-9/1 |
Mon |
Configuration Space |
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Chap 3, Cspace generator |
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Wed |
Potential Functions: Add/Rep, Distance, Gradient Descent, Potential Functions in Non-Euclidean spaces Wavefront Planner |
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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) |
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Chap 3 |
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Week 4 9/13-9/15 |
Mon |
Navigation Functions, Harmonic Functions |
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Chap 4 Real-Time Obstacle Avoidance Using Harmonic Potential Functions Jin-oh Kim and Pradeep K. Khosla, 1992 Nonholonomic navigation and control of cooperating mobile manipulators H. G. Tanner, S. G. Loizou, and K. J. Kyriakopoulos. IEEE Transactions on Robotics and Automation, Feb 2003, Vol 19 Issue 1, pp 53-64 Nonholonomic path planning using harmonic functions C Connoly and R. Grupen. Journal of Robotic Systems, 1994 |
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Wed |
Graph Search, A*, Weighted A* |
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Chap H |
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Week 5 9/20-9/22 |
Mon |
Anytime & Incremental Search (ARA*/D* Lite/Anytime D*) |
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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 |
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Wed |
Real-time Search (Agent centered search including LRTA* and RTAA*) |
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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 |
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Chap 5 |
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Wed |
Retracts in SE(2), Silhouette Methods |
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Chap 5 |
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Week 7 10/4-10/6 |
Mon |
Exact Cell Decomps: Trap, Boustrophedon (Coverage) |
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Chap 6 |
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Wed |
Sample-based Methods: Potential Functions, Begin PRMs |
voronoi diagram view |
Chap 7 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 |
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Week 8 10/11-10/13 |
Mon |
PRMs |
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Chap 7 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. |
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Wed |
RRTs |
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Chap 7 Randomized Kinodynamic Planning Steve LaValle and James Kuffner (original RRT paper; IJRR (20): 5, 2001 RRT* implementation Karaman and Frazzoli |
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Week 9 10/18-10/20 |
Mon |
Introduction to Dynamics |
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Chap 10 |
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Wed |
RRTs and Dynamics |
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Kinodynamic motion planning B. Donald, P Xavier, JCanny, and J Reif. Journal of the ACM 1993 Kinodynamic Motion Planning with Moving Obstacles D. Hsu, R. Kindel, J.C. Latombe and S. Rock, Int. J. of Robotics Research, 21(3):233-255, March 2002 Randomized Kinodynamic Planning S.M. Lavalle and J. J. Kuffner. International Journal of Robotics Research, 20(5):378-400, May 2001 |
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Week 10 10/25-10/27 |
Mon |
Introduction to Nonholonomic |
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Chap 12 LaValle Motion Planning Book, Chapter 13 S.M. Lavalle Overview of DARPA Grand Challenge motion Planning Christopher Baker, David Ferguson, and John Dolan CMU DARPA Grand Challenge Local Planner David Ferguson, Thomas Howard, and Maxim Likhachev CMU DARPA Grand Challenge Parking Lot Planner David Ferguson, Thomas Howard, and Maxim Likhachev Nonholonomic Motion Planning for Mobile Manipulators H. G. Tanner and K. J. Kyriakopoulos, Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, April 2000, pp 1233-1238 |
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Wed |
Lamound grid planner/Latombe ? |
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Chap 12 On nonholonomic mobile robots and optimal maneuvering Barraquand, J. and Latombe, J. C. Proceedings of the IEEE International Symposium on Intelligent Control, 1989, pg. 340-347 |
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Week 11 11/1-11/3 |
Mon |
Controls Primer, Probability Primer |
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App I, J |
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Wed |
Kalman Filtering |
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Chap 8 |
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Week 12 11/8-11/10 |
Mon |
Range-Only, Bearing-Only, Range and Bearing SLAM with Kalman Filtering |
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Estimating uncertain spatial relationships in robots. R. Smith, M. Self, and P. Cheeseman. Autonomous Robot Vehicles 1990, pp 167-193 |
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Wed |
Bayesian SLAM |
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Week 13 11/15-11/17 |
Mon |
Combined Planning and Control |
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Maneuver-based motion planning for nonlinear systems with symmetries E. Frazzoli, M. A. Dahleh, and E. Feron. IEEE Transactions on Robotics, Dec 2005, 21:6, pg 1077-1091 |
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Wed |
Combined Planning and Control |
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LQR-Trees: Feedback motion planning on sparse randomized trees [long] , Russ Tedrake, Ian R. Manchester, Mark M. Tobenkin, and John W. Roberts. International Journal of Robotics Research, 29:1038-1052, July 2010 |
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Week 14 11/22-11/24 |
Mon |
Probably skip |
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Wed |
No class: Pre-Tday |
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Week 15 11/29-12/1 |
Mon |
Needle Steering |
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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
Motion Planning Under Uncertainty for Image-Guided Medical Needle Steering, Ron Alterovitz, Michael Branicky, and Ken Goldberg, International Journal of Robotics Research, vol. 27, no. 11-12, pp. 1361-1374, Nov. 2008.
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Wed |
Leave open for demos |
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