MEAM 620: Robotics Main/Syllabus 2010

MEAM 620 is a graduate level course for people who are interested in doing research in robotics. The course will cover advanced topics in

Planning
Dynamics and Control
Distributed Algorithms for Multi-Robot Control

The course will have two smaller projects, one large research projects and two or three written homeworks. No exams.

Lecture	Date	Topic
1	Jan 14	PLANNING: Introduction, planning via graph searches, methods for cell decomposition and skeletonization of workspaces Attach:introtomotionplanning.pdf
2	Jan 19	PLANNING: A* search Attach:AStarsearch.pdf
3	Jan 21	PLANNING: A* search (cont'd)
4	Jan 26	PLANNING: Real-time planning and re-planning I (incremental, anytime and agent-centered graph searches) Attach:realtimeplan1_meam620.pdf Project 1 is out Project 1
5	Jan 28	PLANNING: Real-time planning and re-planning II (incremental, anytime and agent-centered graph searches) Attach:realtimeplan2_meam620.pdf
6	Feb 2	PLANNING: Sampling-based planning (PRM, RRT) Attach:samplingbasedplan_meam620.pdf
7	Feb 4	DYNAMICS and CONTROL: Rigid body transformations Attach:rigidbodytransformations_meam620.pdf
8	Feb 9	DYNAMICS and CONTROL: Rigid body transformations, Twists Attach:rigidbodytwists_meam620.pdf Homework 1 is out Homework 1
9	Feb 11	Project 1 is due on Sunday, Feb 14 (by email)
10	Feb 16	DYNAMICS and CONTROL: Lie algebras, Lie bracket, Nonholonomic systems, Differential drive robotDYNAMICS and CONTROL: Attach:nonholonomic_meam620.pdf Project 2 is out Project 2
11	Feb 18 Homework 1 is due	DYNAMICS and CONTROL: Stability, Lyapunov theory, Controllability , Control of a differential drive robot, Path following controllers Attach:controlpathfollowing_meam620.pdf Paper: Attach:pathfollowingpaper.pdf Notes: Attach:pathfollowing_notes.pdf
12	Feb 23	PLANNING: Planning under uncertainty in actuation I (minimax formulation, minimax A*, MDPs, value iteration, policy iteration, RTDP) Attach:planunderuncertainty1_meam620.pdf
13	Feb 25	PLANNING: Planning under uncertainty in actuation II (minimax formulation, minimax A*, MDPs, value iteration, policy iteration, RTDP) Attach:planunderuncertaintyII_meam620.pdf
14	Mar 2	PLANNING: Planning under other types of uncertainty I (POMDPs, incomplete information states, belief state-spaces)
15	Mar 4	DYNAMICS and CONTROL: Control System Design Attach:controlsystemdesign_meam620.pdf Project 2 is due on Sunday, Mar 7 (by email)
		SPRING BREAK
16	Mar 16	DYNAMICS and CONTROL: Lagrangian formulation Attach:lagrangian_meam620.pdf Homework 2 is out Homework 2
17	Mar 18	DYNAMICS and CONTROL: Advanced Topics in control Attach:control_meam620.pdf
18	Mar 23	DYNAMICS and CONTROL: Navigation Functions Attach:navigationfunctions_meam620.pdf Homework 2 is due
19	Mar 25	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Taxonomy, Algebraic Graph Theory, Distributed Algorithms Attach:graph-theory-meam620.pdf
20	Mar 30	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Distributed Algorithms (Cont'd), Distributed Control, Consensus and Gossip Attach:consensus-meam620.pdf Paper: Ren, Beard, and Atkins, "A Survey of Consensus Problems in Multi-agent Coordination" Paper: Boyd, Ghosh, Prabhakar and Shah, "Gossip Algorithms: Design, Analysis and Applications" Final project proposals are due
21	Apr 1	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Consensus and Gossip (Cont'd), Stable Flocking in Fixed Topologies Project 3 is Out Project 3 (Revised) (Adjusted Question 3) Project 3 Paper: Tanner, Jadbabaie and Pappas, "Stable Flocking of Mobile Agents, Part I: Fixed Topology"
22	Apr 6	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Advanced Topics: Multi-robot Control for Point Robots (Guest Lecturer: Nora Ayanian) Attach:ayanian-meam620.pdf
23	Apr 8	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Stable Flocking in Fixed Topologies (Cont'd) and Hybrid Systems Attach:hybrid-meam620.pdf Paper: T. Henzinger, "The Theory of Hybrid Automata" Paper: M. Branicky, "The Stability of Hybrid Systems"
24	Apr 13	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Hybrid Systems (Cont'd) and Consensus in Dynamic Topologies Paper: R. Saber and R. Murray, "Agreement Problems in Networks with Directed Graphs and Switching Topology" Project 3 is Due
25	Apr 15	Mid-review presentations of final projects
26	Apr 20	PLANNING & CONTROL of MULTI-ROBOT SYSTEMS: Advanced Topics: Convex Analysis for Multi-agent Systems Attach:convex-meam620.pdf Paper: J. Derenick and J. Spletzer, "Convex Optimization Strategies for Coordinating Large-scale Robot Formations" Paper: Y. Kim and M. Mesbahi, "On Maximizing the Second-smallest Eigenvalue of a State-dependent Graph Laplacian"
27	Apr 22	No class
28	Apr 27	Final project presentations Final Project reports are due
29	Apr 29	Final project presentations

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MEAM 620: Robotics

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