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Structure and Synthesis of Robot Motion

All lectures will be held between 10:00 - 10:50 in AT 2.12.
N.B. Handouts will be added to this website as they become available.

Date:	Lecture content:	Assignments and Deadlines:
January 16	Introduction Slides 2012 (also, pdf)
January 19	Introduction: Kinematics and Sampling-based Motion Planning Slides 2012 (also, pdf) Optional Reading: Ch 3 - 5 in LaValle's book
January 23	Introduction: Dynamics and Trajectory Generation Slides 2012 (also, pdf) Optional Reading: Ch 10 in Choset et al. book; Ch 13 LaValle's book
January 26	Making Sense of Sensorimotor Systems I Slides (pdf, note that some equations may not be rendered well) Reading: D. Pierce, B. Kuipers, Map learning with uninterpreted sensors and effectors. Artificial Intelligence 92:169-229, 1997.	Homework 1 assigned
January 30	Tutorial Session I: Unsupervised Learning and System Identification (Questions)
February 2	Making Sense of Sensorimotor Systems II PDF Slides Optional Reading: J. Modayil, Discovering sensor space: Constructing spatial embeddings that explain sensor correlations, In Proc. Intl. Conf. Development and Learning, 2010
February 6	Motion Synthesis Under Sensorimotor Uncertainty I PDF Slides Reading: R. R. Burridge, A. A. Rizzi, D. E. Koditschek, Sequential composition of dynamically dexterous robot behaviors, International Journal of Robotics Research, June 1999.
February 9		Homework 1 Due (Deadline: 16:00)
February 10		Homework 2 assigned
February 13	Motion Synthesis Under Sensorimotor Uncertainty II PDF Slides Reading: D.C. Conner, H. Choset, A.A. Rizzi, Integrated planning and control for convex-bodied nonholonomic systems using local feedback control policies, Proceedings of Robotics: Science and Systems II, pp. 57-64, 2006.
February 16	Motion synthesis with Strategic Considerations I PDF Slides
February 27	Motion synthesis with Strategic Considerations II PDF Slides
March 1	Tutorial Session II: Basics of Decision and Game Theory (Questions)	Homework 2 Due (Deadline: 16:00)
March 2		Homework 3 assigned
March 5	Motion synthesis in Groups and Formations I PDF Slides The material is taken from Bullo et al.'s book (see link on main page)
March 8	Motion synthesis in Groups and Formations II PDF Slides (subsume last week's slides and based on Bullo et al. book) Also, here is the recap on dynamical systems concepts: PDF Slides
March 12	Motion synthesis in Groups and Formations II - Complete
March 15	Decentralized Decision Making and Motion Synthesis I PDF Slides
March 22	Decentralized Decision Making and Motion Synthesis II	Homework 3 Due (Deadline: 16:00)
March 26	Information, Incompleteness and Asymmetry PDF Slides
April 2	Problem Session on Distributed Robotics

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