Master Seminar - Planning Algorithms (WS15/16)

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The seminar will have a look at the game-theoretical basics of planning algorithms as they are used in control e.g. of robots.

Number of participants: max 10

List of tentative topics (chapters refer to the book "planning algorithms" by LaValle):

• Sampling-Based Motion Planning - 1 topic

  Chap.5 + vs. exact methods (Chap.6)

• Decision-theoretic planning & planning under uncertainty & learning-based planning - 5 topics

  Chap.10 + Markov games as a framework for multi-agent reinforcement learning + PAC Model-Free Reinforcement Learning

  Chap.11 + Motion Planning under Uncertainty for On-Road Autonomous Driving ICRA’14

  Chap.12 + Scalable Planning and Learning for Multiagent POMDPs AAAI’15

  A Survey of Machine Learning Approaches to Robotic Path-Planning Recent Advances in AI Planning

• Planning Under Differential Constraints - 2 topics (1 chapter + 1 paper each)

  Chap.13

  Chap.14

  Motion Planning for Smooth Pickup of Moving Objects ICRA’14

  Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms ICRA’14

• Planning under Temporal Logic Constraints - 3 topics (1 journal + 1 conference paper per each)

  Temporal logic motion planning for dynamic robots

  Temporal-Logic-Based Reactive Mission and Motion Planning

  Optimality and Robustness in Multi-Robot Path Planning with Temporal Logic Constraints

  A receding horizon algorithm for informative path planning with temporal logic constraints ICRA’13

  Just-in-time synthesis for reactive motion planning with temporal logic ICRA’13

  Reactive sampling-based temporal logic path planning ICRA’14