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====== Lectures ======

Supporting materials for the lectures of the academic year 2018/2019. The materials are slides, also available in printer safe version as handouts with 2x2 and 3x3 slides on a single page. 

**<fc #ff0000>These supportive materials are not intended as a replacement of your own notes from the lectures. They are rather provided to help you to understand the studied problems.</fc>**

^ #TWeek ^ Week ^ Topic ^  Monday  \\  9:15-10:45  \\  KN:E-126  ^
| 01 | 40. | [[#1. Course information, introduction to robotics| Lecture 01 - Course information, introduction to robotics]] | 01.10. - lec01 |
| 02 | 41. | [[#2. Robotic paradigms and control architectures| Lecture 02 - Robotic paradigms and control architectures]] | 08.10. - lec02 |
| 03 | 42. | [[#3. Path and motion planning|  Lecture 03 - Path and motion planning]] | 15.10. - lec03 |
| 04 | 43. | [[#4. Grid and graph-based path planning methods|  Lecture 04 - Grid and graph-based path planning methods]] | 22.10. - lec04 |
| 05 | 44. | [[#5. Randomized sampling-based motion planning methods| Lecture 05 - Randomized sampling-based motion planning methods]]  | 29.10. - lec05 |
| 06 | 45. | [[#6. Multi-goal planning - Robotic variants of the TSP| Lecture 06 - Multi-goal planning - Robotic variants of the TSP]] | 05.11. - lec06 |
| 07 | 46. | [[#7. Data collection planning - TSP(N) and OP(N))| Lecture 07 - Data collection planning - TSP(N) and OP(N))]] | 12.11. - lec07 |
| 08 | 47. | [[#8. Data collection planning with curvature-constrained vehicles (DTSP(N) and DOP(N)| Lecture 08 - Data collection planning with curvature-constrained vehicles (DTSP(N) and DOP(N)]] | 19.11. - lec09 |
| 09 | 48. | [[#9. Autonomous Navigation | Lecture 09 - Autonomous navigation]] | 26.11. - lec09 |
| 10 | 49. | [[#10. Long-term navigation and spatiotemporal mapping | Lecture 10 - Long-term navigation and spatiotemporal mapping]] | 03.12. - lec10 |
| 11 | 50. | [[#11. Game theory in robotics | Lecture 11 - Game theory in robotics ]] | 10.12. - lec11 |
| 12 | 51. | [[#12. Visibility based pursuit evasion games | Lecture 12 - Visibility based pursuit evasion games ]] | 17.12. - lec12 |
| -- | 52. |  //<fc #008080>Winter holidays (24.12.)</fc>//  ||
| 13 | 01. |  //<fc #008080>Public holidays (31.12.) /* New Year's Day (01.01.)*/ </fc>//  ||
| 14 | 02. | [[#13.Patrolling games | Lecture 13 - Patrolling games ]] | 07.01. - lec13 |

===== 1. Course information, introduction to robotics =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec01-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec01-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec01-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec01-handout-3x3.pdf|}}
  /*  * demo codes: {{courses:b4m36uir:lectures:b4m36uir-lec01-codes.zip|}} */

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2017/10/02 09:14//

===== 2. Robotic paradigms and control architectures =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec02-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec02-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec02-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec02-handout-3x3.pdf|}}
  /*  * demo codes: {{courses:b4m36uir:lectures:b4m36uir-lec02-codes.zip|}} */

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/08 08:35//

===== 3. Path and motion planning =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec03-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec03-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec03-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec03-handout-3x3.pdf|}}
  /*  * demo codes: {{courses:b4m36uir:lectures:b4m36uir-lec03-codes.zip|}} */

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/14 19:20//
===== 4. Grid and graph-based path planning methods =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec04-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec04-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec04-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec04-handout-3x3.pdf|}}

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/22 08:50//

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2017/10/23 09:11 // <fc #ff0000>**Update**: Fixing position of the grid in D* Lite.</fc>





===== 5. Randomized sampling-based motion planning methods  =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec05-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec05-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec05-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec05-handout-3x3.pdf|}}


 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/29 08:48//

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2019/01/13 21:22// <fc #ff0000>**Fix**: Missing and mixed line in the table with properties of the algorithms.</fc>
===== 6. Multi-goal planning - robotic variants of the TSP =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec06-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec06-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec06-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec06-handout-3x3.pdf|}}

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/11/05 12:14//


===== 7. Data collection planning - TSP(N) and OP(N)) =====

  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec07-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec07-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec07-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec07-handout-3x3.pdf|}}

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/26 22:55//

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2017/12/29 22:52// <fc #ff0000>**Update**: Noon-Bean Transformation </fc>


===== 8. Data collection planning with curvature-constrained vehicles (DTSP(N) and DOP(N)) =====
  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec08-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec08-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec08-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec08-handout-3x3.pdf|}}

 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/10/26 23:29// Add note about the GDIP

===== 9. Autonomous navigation =====

//New topic tbd//
/*
  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec09-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec09-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec09-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec09-handout-3x3.pdf|}}
*/
 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/11/03 17:28//



===== 10. Long-term navigation and spatiotemporal mapping =====

//New topic tbd//
/*
  * slides: {{courses:b4m36uir:lectures:b4m36uir-lec10-slides.pdf|}}
  * slides - handout: {{courses:b4m36uir:lectures:b4m36uir-lec10-handout.pdf|}}
  * slides - handout 2x2: {{courses:b4m36uir:lectures:b4m36uir-lec10-handout-2x2.pdf|}}
  * slides - handout 3x3: {{courses:b4m36uir:lectures:b4m36uir-lec10-handout-3x3.pdf|}}
*/
 --- //[[faiglj@fel.cvut.cz|Jan Faigl]] 2018/11/03 17:28//

===== 11. Perfect information pursuit evasion games =====


  * slides: {{ :courses:b4m36uir:lectures:b4m36uir-2018-lec11-slides.pdf |}}
  * links to other resources on the last slide

===== 12. Visibility based pursuit evasion games =====


  * slides: {{courses:b4m36uir:lectures:b4m36uir-2018-lec12-slides.pdf|}}
  * links to other resources on the last slide 


===== 13. Patrolling games =====

  * slides: {{ :courses:b4m36uir:lectures:b4m36uir-2018-lec13-slides.pdf |}}
  * links to other resources on the last slide