Emilio Frazzoli: Catalogue data in Autumn Semester 2021

Name Prof. Dr. Emilio Frazzoli
FieldDynamic Systems and Control
Dyn. Systeme u. Regelungstechnik
ETH Zürich, ML K 33
Sonneggstrasse 3
8092 Zürich
Telephone+41 44 632 79 28
DepartmentMechanical and Process Engineering
RelationshipFull Professor

151-0325-00LPlanning and Decision Making for Autonomous Robots4 credits2V + 1UE. Frazzoli
AbstractPlanning 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.
ObjectiveThe 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.
ContentDiscrete 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.
Lecture notesCourse notes and other education material will be provided for free in an electronic form.
LiteratureThere is no required textbook, but an excellent reference is Steve Lavalle's book on "Planning Algorithms."
Prerequisites / NoticeStudents 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.
Subject-specific CompetenciesConcepts and Theoriesassessed
Techniques and Technologiesassessed
227-0920-00LSeminar in Systems and Control Information 0 credits1SF. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith
AbstractCurrent topics in Systems and Control presented mostly by external speakers from academia and industry
Objectivesee above