For Discussion and Collaboration on projects: Course Wiki
Summary:
We discuss algorithms for robots and other complex systems that make intelligent decisions in high dimensional or continuous spaces of options. Intelligent decisions take into account both present and future constraints on the system. The course will cover methods for planning with symbolic, numerical, geometric and physical constraints. Topics will range from classical and stochastic planning to continuous robot domains and hybrid control of dynamic systems.
FINAL PROJECT PAPERS: December 2008
J. Olson, I. Krillov, J. Sweeney, Simple Mapping and Path Planning with the Roomba[PDF]
K. Bonnette and S. Hilber, Information Scarce Maze Solving[PDF]
J.H. Lee, C. Nieto, M. Novitzky, Boxing Humanoid Robot[PDF]
N. Dantam, N. DePalma, M. Ahrens, Sparky the Grumpy Balancing Robot
D. Brooks, L. Parker, J. Wang, The Robot Jenga Player: Autonomous Block Extraction
E. Lee and J. Perkins, Comparison of Techniques for Stabilization of a Triple Inverted Pendulum[PDF]
J. Scholz, V. Subramanian, A. Elangovan, Vision-guided Trajectory Generation with a 7 DOF Robot Arm[PDF]
Papers not available online are in further development after the conclusion of class.
