Lecture 11, March 31, 2020: Graph-based Path Planning; Informative Path Planning by Dr Tiwari

Graph-based Path Planning
Graphs to the rescue!!

Dr. Kshitij Tiwari

Overview
Biography
Motivation
About
Graph-based Path Planners
Scenario
Graphs
Best-first Search Methods

  • Dijkstra Algorithm
  • A* Algorithm
  • D* Algorithm

Sampling Based Methods

  • RRT
  • PRM

Summary

Cliff Hanger
Readings

Informative Path Planning
Information to the rescue!!

Dr. Kshitij Tiwari

Overview
Recap
Informative Path Planning (IPP)

  • Information
  • Path Planning
  • Challenges

Tackling challenges

  • Information acquisition
  • Termination criterion
  • Scalability
  • Interference
  • Sufficient information

Summary
Readings
ROS Tutorial

Zoom-video of the remote lecture