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[edit] Autonomous Multi-Robot Systems Fall 2008
[edit] Administrative
Professor: Tucker Balch TSRB 232
MW 12:05pm-12:55pm; Klaus 1447
TA: Keith O'Hara (office hours MW 1-2 TSRB)
T-square site: https://t-square.gatech.edu/portal/site/XLS0821161256200808.200808
[edit] Topics
Hierarchical robot control; Behavior-based robot control; Sensors and perception; Navigation and path planning; Localization; Reinforcement learning; Communication; Diversity.
[edit] Prerequisite
Strong programming skills. We will be using Unix, C, Python.
[edit] Schedule
| Date | Topic | Assignments/References |
| Aug 18 | Class Overview | Sign up to the class mailing list |
| Aug 20 | Sense-Think-Act Cycle | Drunken Sailor project described (due Sept 3) |
| Aug 25 | Reactive Behavior in Drunken Sailor context | Bug algorithm slides by Hager and Dodds |
| Aug 27 | Introduction to breve environment | By Keith O'Hara |
| Sept 1 | No Class Labor Day | By Karl Marx (har har..) |
| Sept 3 | Bug Algorithm (see slides by Hager above) | Assignment #1 Due at 11:59PM via T-Square |
| Sept 8 | A-star | Assignment #2 announced. |
| Sept 10 | A-star | |
| ...Sept 22 | A-star | A Star Code |
| Sept 24 | Reinforcement Learning | |
| Sept 29 | Review & Reinforcement Learning | |
| Oct 1 | Mid Term | |
| Oct 8-24 | Reinforcement Learning | Reinforcement Learning: A Survey by Kaelbling, LIttman and Moore. The most useful sections to understand for this project are: 1, 3, 4. |
| Oct 27 | Reinforcement Learning assignment distributed | Due November 3 at 11:55PM. |
| Nov 3 | ascii soccer domain introduced | ascii soccer |
| Nov 5 | Diversity, RL in soccer | ] |
| Nov 7 | ascii soccer project assigned | Due November 14 at 11:55PM. |
| Nov 10 | multi-agent animal behavior: Ants | |
| Nov 12 | multi-agent animal behavior: Bees | |
| Nov 10 | Diversity, RL in foraging | paper by Balch |
[edit] Assignments
- Project 1: The Drunken Sailor's Challenge, due Weds Sept 3 11:59PM.
- Project 3: Reinforcement Learning navigation due Monday Nov 3 11:55PM.
- Test Maps (sorry, needed to have .c extension to upload to the wiki)
- Project 4: Homogeneous Soccer Team due Friday Nov 14 11:55PM.
[edit] Evaluation
Grading will be based on projects and tests as follows as follows:
- Midterm exam: 10%
- Final exam: 10%
- Programming assignments: 50%
- Final project: 30%
