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Tasks

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

1)
All task deadlines are 23:59 PST
courses/b4m36uir/hw/start.txt ยท Last modified: 2019/11/28 14:28 by milecdav