Emilio Frazzoli: Katalogdaten im Herbstsemester 2021 |
Name | Herr Prof. Dr. Emilio Frazzoli |
Lehrgebiet | Dynamische Systeme und Regelungstechnik |
Adresse | Dyn. Systeme u. Regelungstechnik ETH Zürich, ML K 33 Sonneggstrasse 3 8092 Zürich SWITZERLAND |
Telefon | +41 44 632 79 28 |
emilio.frazzoli@idsc.mavt.ethz.ch | |
Departement | Maschinenbau und Verfahrenstechnik |
Beziehung | Ordentlicher Professor |
Nummer | Titel | ECTS | Umfang | Dozierende | ||||||||
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151-0325-00L | Planning and Decision Making for Autonomous Robots | 4 KP | 2V + 1U | E. Frazzoli | ||||||||
Kurzbeschreibung | Planning 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. | |||||||||||
Lernziel | The 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. | |||||||||||
Inhalt | Discrete 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. | |||||||||||
Skript | Course notes and other education material will be provided for free in an electronic form. | |||||||||||
Literatur | There is no required textbook, but an excellent reference is Steve Lavalle's book on "Planning Algorithms." | |||||||||||
Voraussetzungen / Besonderes | Students 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. | |||||||||||
Kompetenzen |
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227-0920-00L | Seminar in Systems and Control | 0 KP | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith | ||||||||
Kurzbeschreibung | Current topics in Systems and Control presented mostly by external speakers from academia and industry | |||||||||||
Lernziel | see above |