Robotics and Autonomous Systems

  1. Planning and Navigation
    1. Planning Problem Taxonomy
      1. Motion Planning vs Task Planning
        1. Deterministic vs Stochastic Planning
          1. Single-agent vs Multi-agent Planning
            1. Online vs Offline Planning
            2. Configuration Space
              1. Degrees of Freedom
                1. C-space Obstacles
                  1. Free Space Representation
                    1. Workspace to C-space Mapping
                    2. Classical Planning Algorithms
                      1. Graph Search Methods
                        1. Breadth-First Search
                          1. Depth-First Search
                            1. Dijkstra's Algorithm
                              1. A* Algorithm
                                1. Heuristic Functions
                                  1. Admissibility and Consistency
                                  2. Weighted A*
                                    1. D* and D* Lite
                                    2. Grid-based Planning
                                      1. Hierarchical Path Planning
                                    3. Sampling-based Planning
                                      1. Probabilistic Roadmaps
                                        1. Construction Phase
                                          1. Query Phase
                                            1. PRM Variants
                                            2. Rapidly-exploring Random Trees
                                              1. Basic RRT Algorithm
                                                1. RRT-Connect
                                                  1. RRT*
                                                    1. Asymptotic Optimality
                                                      1. Convergence Properties
                                                      2. Informed RRT*
                                                      3. Sampling Strategies
                                                        1. Uniform Sampling
                                                          1. Gaussian Sampling
                                                            1. Bridge Sampling
                                                          2. Optimization-based Planning
                                                            1. Trajectory Optimization
                                                              1. Direct Methods
                                                                1. Indirect Methods
                                                                2. Optimal Control Formulation
                                                                  1. Constraints Handling
                                                                    1. Equality Constraints
                                                                      1. Inequality Constraints
                                                                      2. Numerical Optimization
                                                                        1. Sequential Quadratic Programming
                                                                          1. Interior Point Methods
                                                                        2. Reactive Navigation
                                                                          1. Potential Field Methods
                                                                            1. Attractive Potentials
                                                                              1. Repulsive Potentials
                                                                                1. Local Minima Problem
                                                                                2. Vector Field Histogram
                                                                                  1. Dynamic Window Approach
                                                                                    1. Velocity Obstacles
                                                                                    2. Behavior and Task Planning
                                                                                      1. Hierarchical Planning
                                                                                        1. Task Decomposition
                                                                                          1. Abstraction Levels
                                                                                          2. Finite State Machines
                                                                                            1. State Design
                                                                                              1. Transition Logic
                                                                                                1. Hierarchical FSMs
                                                                                                2. Behavior Trees
                                                                                                  1. Composite Nodes
                                                                                                    1. Decorator Nodes
                                                                                                      1. Leaf Nodes
                                                                                                        1. Execution Semantics
                                                                                                        2. Planning Domain Definition Language
                                                                                                          1. PDDL Syntax
                                                                                                            1. Problem Specification
                                                                                                              1. Domain Specification
                                                                                                            2. Multi-Robot Coordination
                                                                                                              1. Centralized Planning
                                                                                                                1. Global Optimization
                                                                                                                  1. Communication Requirements
                                                                                                                  2. Decentralized Planning
                                                                                                                    1. Local Decision Making
                                                                                                                      1. Consensus Algorithms
                                                                                                                      2. Market-based Approaches
                                                                                                                        1. Auction Mechanisms
                                                                                                                          1. Task Allocation
                                                                                                                          2. Formation Control
                                                                                                                            1. Leader-Follower
                                                                                                                              1. Behavioral Approaches
                                                                                                                                1. Virtual Structure

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                                                                                                                            4. Localization and State Estimation

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                                                                                                                            6. Robot Control