Emilio Frazzoli: Catalogue data in Autumn Semester 2021 |
| Name | Prof. Dr. Emilio Frazzoli |
| Field | Dynamic Systems and Control |
| Address | Dyn. Systeme u. Regelungstechnik ETH Zürich, ML K 33 Sonneggstrasse 3 8092 Zürich SWITZERLAND |
| emilio.frazzoli@idsc.mavt.ethz.ch | |
| Department | Mechanical and Process Engineering |
| Relationship | Full Professor |
| Number | Title | ECTS | Hours | Lecturers | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 151-0325-00L | Planning and Decision Making for Autonomous Robots | 4 credits | 2V + 1U | E. Frazzoli | ||||||||
| Abstract | 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. | |||||||||||
| Learning objective | 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. | |||||||||||
| Content | 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. | |||||||||||
| Lecture notes | Course notes and other education material will be provided for free in an electronic form. | |||||||||||
| Literature | There is no required textbook, but an excellent reference is Steve Lavalle's book on "Planning Algorithms." | |||||||||||
| Prerequisites / Notice | 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. | |||||||||||
Competencies |
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| 227-0920-00L | Seminar in Systems and Control | 0 credits | 1S | F. Dörfler, R. D'Andrea, E. Frazzoli, M. H. Khammash, J. Lygeros, R. Smith | ||||||||
| Abstract | Current topics in Systems and Control presented mostly by external speakers from academia and industry | |||||||||||
| Learning objective | see above | |||||||||||