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====== Tasks ======

^ Task ID ^ Points ^ Bonus Points ^ Assignment ^ Due date ((With the exception of the final hard deadline, all task due dates are **23:59 PST**))^
^ Robot locomotion, sensing, and planning (15 + 5 pts) ^^^^^
| [[courses:uir:hw:t1a-ctrl|T1a-ctrl]] |  3  | | Open-loop locomotion control |  08. 10. 2023  |
| [[courses:uir:hw:t1b-react|T1b-react]] |  3  | | Reactive obstacle avoidance |  15. 10. 2023  |
| [[courses:uir:hw:t1c-plan|T1c-plan]] |  3  | | Grid based path planning  |  22. 10. 2023   |
| [[courses:uir:hw:t1d-map|T1d-map]] |  3  | | Map building |  29. 10. 2023  |
| [[courses:uir:hw:t1e-expl|T1e-expl]] |  3  | | Robotic information gathering - mobile robot exploration  |  05. 11. 2023  |
| [[courses:uir:hw:t1x-dstar|T1x-dstar]] | |  5  | Incremental path planning (D* Lite) |  13. 01. 2024  |
^ Multi-goal planning (10 pts) ^^^^^
| [[courses:uir:hw:t2a-tspn|T2a-tspn]] |  3  | | Multi-goal planning and data collection path planning - TSP-like formulations |  19. 11. 2023  | 
| [[courses:uir:hw:t2b-dtspn|T2b-dspn]] |  7  | | Data collection path planning with curvature-constrained trajectory - Dubins TSP with Neighborhoods (DTSPN) - decoupled approach  |  26. 11. 2023  |
^ Randomized sampling-based planning (10 pts) ^^^^
| [[courses:uir:hw:t3a-sampl|T3a-sampl]] |  3  | | Randomized sampling-based algorithms  |  10. 12. 2023  |
| [[courses:uir:hw:t3b-rrt|T3b-rrt]] |  7  | | Asymptotically optimal sampling-based motion planning  |  17. 12. 2023  |
^ Game theory in robotics (15 pts)  ^^^^^
| [[courses:uir:hw:t4a-oracle|T4a-oracle]] |  7  | | Adversarial path planning  |  13. 01. 2024  |
| [[courses:uir:hw:t4b-greedy|T4b-greedy]] |  1  | | Greedy policy in pursuit-evasion  |  13. 01. 2024  |
| [[courses:uir:hw:t4c-vi|T4c-vi]] |  7  | | Value-iteration policy in pursuit-evasion  |  13. 01. 2024  |
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 hard deadline for all homeworks is 13.1.2024 @ 23:59 PST.</fc>**

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===== 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:uir:hw:penalty.png?600 |}}