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