Lecturing will start at Tuesday April 12th at 12:30 at LBH, Seminarroom E08,

In this lecture we consider algorithmic aspects of motion planning, i.e. efficient Algorithms for motion planning problems for autonomous agents will be presented.

In contrast to other motion planning tasks we will consider motion planning under incomplete information: At the beginning, we do not have at hand all the information necessary to find an optimal or a correct path. Therefore our topic belongs to the realm of Online algorithms. We will compare online strategies to optimal offline strategies to measure their quality.

April 12th: Introduction/Shannon/Graph-exploration
April 14th: Simple gridpolygons/exploration
April 19th: SmartDFS Analysis
April 21st: General grids/STC Alg.
April 26st: Constrained graph-exporation/CFS Algorithm
April 28st/May 3rd: CFS Algorithm unknown depth/Marker Alg.
May 3rd/May 10th: Pledge Algorithm with sensor errors
May 12th: Navigation by Bug Algorithms
May 24th: Searching for objects/2-ray and m-ray search
May 31th/June 2nd: Searching with bound distance/Window Shopper and searching for rays

Current Full Script (will be updated) last update June 1st

Starting tutorial April 19th: Prepare Exercise 1-3 of the manuscript
Exercise Sheet 1 (Due April 20th)
Exercise Sheet 2 (Due April 27th)
Exercise Sheet 3 (Due May 4th)
Exercise Sheet 4 (Due May 11th)
Exercise Sheet 5 (Due May 25th)
Exercise Sheet 6 (Due June 1st)
Exercise Sheet 7 (Due June 8th)
Exercise Sheet 8 (Due June 15th)

Introduction: April 12th
Exploration Graphs/gridpolygons: April 14th
SmartDFS Analysis: April 19th
General Gridpolygons: April 21th
Restricted Graphexploration: April 26th
Restricted Graphexploration/Analysis: April 28th
Marker algorithm/pledge algorithm: May 3rd
Pledge algorithm with sensor errors: May 10th
Bug Algorithms: May 12th
Searching for a goal: May 24th
Searching for points and rays: May 31th
Window Shopper Problem: June 1st
Searching for general rays: June 7th
Ray search LB and Searching in streets: June 9th