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CS 498: Introduction to Planning Algorithms
Fall 2006
TuTh 12:30-1:45
Room 1111 Siebel Center
http://msl.cs.uiuc.edu/lavalle/cs498/
Registration: 40091 (3 hrs), 40092 (4 hrs)
Instructor: Steve LaValle
Motivation: Planning algorithms are impacting technical
disciplines and industries around the world, including robotics,
computer-aided design, manufacturing, computer graphics, aerospace
applications, drug design, and protein folding. This course is
intended for computer scientists and engineers with interests in
robotics, artificial intelligence, robotics, control theory, and the
connections between them. The course focuses mainly on the modeling,
algorithmic, and computational issues that arise when designing
autonomous decision makers.
Tentative Topics
(with estimated number of lectures):
- Introduction, motivation (1)
- Discrete planning (basic search algorithms, optimal planning) (2)
- Continuous planning, sampling-based methods (2)
- Continuous planning, combinatorial methods (2)
- Basic decision theory (games against nature, matrix games, criticisms) (3)
- Sequential decision theory (feedback plans, infinite-horizon problems,
reinforcement learning) (5)
- Sensors and information spaces (general concepts, sensor models,
minimal information requirements, examples) (5)
- Planning in probabilistic information spaces (POMDPs, belief
spaces) (2)
- Planning in nondeterminsitic information spaces (2)
- Planning under sensing uncertainy in robotics (localization, map
building, pursuit-evasion) (5)
Textbook: Planning Algorithms, S. M. LaValle,
Cambridge University Press, 2006. Also available for free download at
http://planning.cs.uiuc.edu/. Most of the material will come from
Chapters 2 and 9-12.
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Steven M. LaValle
2006-07-27