Emilio Frazzoli: Katalogdaten im Herbstsemester 2021

NameHerr Prof. Dr. Emilio Frazzoli
LehrgebietDynamische Systeme und Regelungstechnik
Dyn. Systeme u. Regelungstechnik
ETH Zürich, ML K 33
Sonneggstrasse 3
8092 Zürich
Telefon+41 44 632 79 28
DepartementMaschinenbau und Verfahrenstechnik
BeziehungOrdentlicher Professor

151-0325-00LPlanning and Decision Making for Autonomous Robots4 KP2V + 1UE. Frazzoli
KurzbeschreibungPlanning safe and efficient motions for robots in complex environments, often shared with humans and other robots, is a difficult problem combining discrete and continuous mathematics, as well as probabilistic, game-theoretic, and learning aspects. This course will cover the algorithmic foundations of motion planning, with an eye to real-world implementation issues.
LernzielThe students will learn how to design and implement state-of-the-art algorithms for planning the motion of robots executing challenging tasks in complex environments.
InhaltDiscrete planning, shortest path problems. Planning under uncertainty. Game-theoretic planning. Geometric Representations. Configuration space. Grids, lattices, visibility graphs. Sampling-based methods. Potential and Navigation functions. Mathematical Programming. Local and global optimization, convex relaxations. Planning with limited information. Multi-agent Planning.
SkriptCourse notes and other education material will be provided for free in an electronic form.
LiteraturThere is no required textbook, but an excellent reference is Steve Lavalle's book on "Planning Algorithms."
Voraussetzungen / BesonderesStudents should have taken basic courses in optimization, control systems, probability theory, and should be familiar with basic programming (e.g., Python, and/or C/C++). Previous exposure to robotic systems is a definite advantage.
Geförderte KompetenzenGeförderte Kompetenzen
Fachspezifische KompetenzenKonzepte und Theoriengeprüft
Verfahren und Technologiengeprüft
227-0920-00LSeminar in Systems and Control Information 0 KP1SF. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith
KurzbeschreibungCurrent topics in Systems and Control presented mostly by external speakers from academia and industry
Lernzielsee above