| Task ID | Points | Assignment | Due date 1) |
|---|---|---|---|
| Robot locomotion, sensing, and planning (14 + 5 pts) | |||
| T1a-ctrl | 3 | Open-loop locomotion control | 5. 10. 2019 |
| T1b-react | 3 | Reactive obstacle avoidance | 12. 10. 2019 |
| T1c-map | 2 | Map building | 12. 10. 2019 |
| T1d-plan | 3 | Grid based path planning | 19. 10. 2019 |
| T1e-expl | 3 | Robotic information gathering - mobile robot exploration | 02. 11. 2019 |
| T1x-bonus | 5 | Incremental path planning (D* Lite) | 30. 11. 2019 |
| Multi-goal path planning (10 pts) | |||
| T2a-tspn | 5 | Multi-goal path planning and data collection path planning - TSP-like formulations | 16. 11. 2019 |
| T2b-dspn | 5 | Data collection path planning with curvature-constrained trajectory - Dubins TSP with Neighborhoods (DTSPN) - decoupled approach | 30. 11. 2019 |
| Randomized sampling-based planning (6 pts) | |||
| T3a-sampl | 3 | Randomized sampling-based algorithms | 07. 12. 2019 |
| T3b-rrt | 3 | Curvature-constrained local planning in RRT | 07. 12. 2019 |
| Game theory in robotics (15 pts) | |||
| T4a-greedy | 3 | Greedy policy in pursuit-evasion | 21. 12. 2019 |
| T4b-mcts | 6 | Monte Carlo Tree Search policy in pursuit-evasion | 28. 12. 2019 |
| T4c-vi | 6 | Value-iteration policy in pursuit-evasion | 4. 1. 2020 |
Sum points: 45; Bonus points: 5
Total max points: 50