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	02. 10. 2022
T1b-react	3		Reactive obstacle avoidance	09. 10. 2022
T1c-map	3		Map building	16. 10. 2022
T1d-plan	3		Grid based path planning	23. 10. 2022
T1e-expl	3		Robotic information gathering - mobile robot exploration	06. 11. 2022
T1x-dstar		5	Incremental path planning (D* Lite)	14. 01. 2023
Multi-goal planning (10 pts)
T2a-tspn	3		Multi-goal planning and data collection path planning - TSP-like formulations	20. 11. 2022
T2b-dspn	7		Data collection path planning with curvature-constrained trajectory - Dubins TSP with Neighborhoods (DTSPN) - decoupled approach	27. 11. 2022
Randomized sampling-based planning (10 pts)
T3a-sampl	3		Randomized sampling-based algorithms	04. 12. 2022
T3b-rrt	7		Asymptotically optimal sampling-based motion planning	11. 12. 2022
Game theory in robotics (15 pts)
T4a-greedy	1		Greedy policy in pursuit-evasion	14. 01. 2023
T4b-oracle	7		Adversarial path planning	14. 01. 2023
T4c-vi	7		Value-iteration policy in pursuit-evasion	14. 01. 2023

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 14.1.2023 @ 23:59 PST.

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