Tasks

Task ID	Points	Assignment	Due date ¹⁾
Robot locomotion, sensing, and planning (14 + 5 pts)
T1a-ctrl	3	Open-loop locomotion control	4. 10. 2020
T1b-react	3	Reactive obstacle avoidance	11. 10. 2020
T1c-map	2	Map building	25. 10. 2020
T1d-plan	3	Grid based path planning	01. 11. 2020
T1e-expl	3	Robotic information gathering - mobile robot exploration	08. 11. 2020
T1x-dstar	5	Incremental path planning (D* Lite)	15. 11. 2020
Multi-goal planning (10 pts)
T2a-tspn	5	Multi-goal planning and data collection path planning - TSP-like formulations	22. 11. 2020
T2b-dspn	5	Data collection path planning with curvature-constrained trajectory - Dubins TSP with Neighborhoods (DTSPN) - decoupled approach	29. 11. 2020
Randomized sampling-based planning (10 pts)
T3a-sampl	3	Randomized sampling-based algorithms	06. 12. 2020
T3b-rrt	7	Asymptotically optimal sampling-based motion planning	20. 12. 2020
Game theory in robotics (21 pts)
T4a-greedy	3	Greedy policy in pursuit-evasion	13. 12. 2020
T4b-mcts	6	Monte Carlo Tree Search policy in pursuit-evasion	03. 01. 2021
T4c-vi	6	Value-iteration policy in pursuit-evasion	09. 01. 2021
T4d-patrol	6	Patrolling in polygonal environment	09. 01. 2021

Sum points: 55; Bonus points: 5

Total max points: 60

All homeworks must be submitted and pass the evaluation. (details below)

Penalty for late submission of the tasks

Penalty for late submission of the task is set to 0.5 points per 3 days (72h). Points are subtracted until the successful submission of the tasks, i.e., until the BRUTE system does not assign at least 0.1 points from the task. Hence it can happen that the overall task score will be negative.

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All task deadlines are 23:59 PST