Tasks

Task ID	Points	Bonus Points	Assignment	Due date ¹⁾
Robot locomotion, sensing, and planning (15 + 5 pts)
T1a-ctrl	3		Open-loop locomotion control	03. 10. 2021
T1b-react	3		Reactive obstacle avoidance	10. 10. 2021
T1c-map	3		Map building	17. 10. 2021
T1d-plan	3		Grid based path planning	24. 10. 2021
T1e-expl	3		Robotic information gathering - mobile robot exploration	07. 11. 2021
T1x-dstar		5	Incremental path planning (D* Lite)	07. 01. 2022
Multi-goal planning (10 pts)
T2a-tspn	3		Multi-goal planning and data collection path planning - TSP-like formulations	21. 11. 2021
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)
T3a-sampl	3		Randomized sampling-based algorithms	05. 12. 2021
T3b-rrt	7		Asymptotically optimal sampling-based motion planning	12. 12. 2021
Game theory in robotics (15 pts)
T4a-greedy	3		Greedy policy in pursuit-evasion	07. 01. 2022
T4b-vi	9		Value-iteration policy in pursuit-evasion	07. 01. 2022
T4c-patrol	3		Patrolling in polygonal environment	07. 01. 2022

Sum points: 50; Bonus points: 5

Total max points: 55

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

The final deadline for all homeworks is 8.1.2022 @ 23:59 CET.

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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With the exception of the final hard deadline, all task deadlines are 23:59 PST