CMU projects

Planning mini projects.

Three mini projects from Planning and Decision Making in Robotics, each searching a different kind of space: a grid, a continuous high-dimensional configuration space, and a space of logical facts.

Course 16-782 Planning & Decision Making
Timeline Fall 2021
Projects 3 mini projects
Stack C++ · MATLAB MEX
Grid map with a planned robot path and a target trajectory
Mini project 1
Catch me if you can
Intercepting a moving target on a grid map. Chasing it means always arriving where it was, so a forward Dijkstra precomputes a reachable interception cell and weighted A* plans to it.
A* Dijkstra C++
RRT* tree of arm configurations in a planar workspace
Mini project 2
Planning for a high-DOF planar arm
RRT, RRT-Connect, RRT* and PRM benchmarked over 20 runs each. RRT-Connect buys speed with inconsistency, RRT* buys optimality with time.
RRT RRT* PRM
Blocks world initial and goal configurations
Mini project 3
Symbolic planning
Planning over logic instead of geometry. A* with a goal-condition-count heuristic gave a 96x speedup on one domain and almost nothing on another, for an instructive reason.
Symbolic Planning Blocks World A*
Code on GitHub ↗