{{indexmenu_n>5}}
====== Tasks ======

^ Task ID ^ Points ^ Bonus Points ^ Assignment ^ Due date ((With the exception of the final hard deadline, all task deadlines are **23:59 PST**))^
^ Robot locomotion, sensing, and planning (15 + 5 pts) ^^^^^
| [[courses:uir:hw:t1a-ctrl|T1a-ctrl]] |  3  | | Open-loop locomotion control |  03. 10. 2021  |
| [[courses:uir:hw:t1b-react|T1b-react]] |  3  | | Reactive obstacle avoidance |  10. 10. 2021  |
| [[courses:uir:hw:t1c-map|T1c-map]] |  3  | | Map building |  17. 10. 2021  |
| [[courses:uir:hw:t1d-plan|T1d-plan]] |  3  | | Grid based path planning  |  24. 10. 2021  |
| [[courses:uir:hw:t1e-expl|T1e-expl]] |  3  | | Robotic information gathering - mobile robot exploration  |  07. 11. 2021  |
| [[courses:uir:hw:t1x-dstar|T1x-dstar]] | |  5  | Incremental path planning (D* Lite) |  07. 01. 2022  |
^ Multi-goal planning (10 pts) ^^^^^
| [[courses:uir:hw:t2a-tspn|T2a-tspn]] |  3  | | Multi-goal planning and data collection path planning - TSP-like formulations |  21. 11. 2021  | 
| [[courses:uir:hw:t2b-dtspn|T2b-dspn]] |  7  | | Data collection path planning with curvature-constrained trajectory - Dubins TSP with Neighborhoods (DTSPN) - decoupled approach  |  28. 11. 2021  |
^ Randomized sampling-based planning (10 pts) ^^^^
| [[courses:uir:hw:t3a-sampl|T3a-sampl]] |  3  | | Randomized sampling-based algorithms  |  05. 12. 2021  |
| [[courses:uir:hw:t3b-rrt|T3b-rrt]] |  7  | | Asymptotically optimal sampling-based motion planning  |  12. 12. 2021  |
^ Game theory in robotics (15 pts)  ^^^^^
| [[courses:uir:hw:t4a-greedy|T4a-greedy]] |  3  | | Greedy policy in pursuit-evasion  |  07. 01. 2022  |
| [[courses:uir:hw:t4b-vi|T4b-vi]] |  9  | | Value-iteration policy in pursuit-evasion  |  07. 01. 2022  |
| [[courses:uir:hw:t4c-patrol|T4c-patrol]] |  3  | | Patrolling in polygonal environment  |  07. 01. 2022  |

Sum points: **50**; Bonus points:  **<fc #ff0000>5</fc>**

**Total max points: 55**

**<fc #ff0000>All homeworks must be submitted and pass the evaluation.</fc>** (details below)

**<fc #ff0000>The final deadline for all homeworks is 8.1.2022 @ 23:59 CET.</fc>**

----

===== 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.
{{ :courses:b4m36uir:hw:penalty.png?600 |}}