Program Overview

Course Information

Course Description

The course DD2416 Safe Robot Planning and Control is a 7.5 credit course that covers various aspects of safe robot planning and control. The course includes introduction to safety, viewpoints, technologies, and procedures, as well as safety/reachability analysis, safe-set representation, and reachability analysis for dynamic systems.

Course Contents

• Introduction to safety, viewpoints, technologies, and procedures
  • Safety/reachability analysis, safe-set representation, and reachability analysis for dynamic systems
• Safe robot control, invariant sets, potential field, and barrier control functions
• Fail-safe and risk-conscious planning
• Advanced motion-planning algorithms, feedback motion planning, sampling-based motion planning under differential constraints, and trajectory optimization
• Mission planning and integrated assignment and motion planning
• Formal methods for robot planning and control, discrete and continuous time logic for goal and conditions specifications, correct-by-design planning and control
• Reinforcement learning for robot control, reinforcement learning under uncertainty, and safe reinforcement learning
• Planning and control of multi-robot systems

Intended Learning Outcomes

After passing the course, the student shall be able to:

• Explain and use principles in motion planning and robot control
• Formulate a planning problem and a control problem for a given robot application
• Choose and justify appropriate technologies for robot control and motion planning in different contexts and domains
• Analyze and evaluate safety as a concept for a given robot system

Literature and Preparations

Specific Prerequisites

Knowledge in introduction to robotics, 5 higher education credits, equivalent completed course DD2410 or completed item LAB1 in DD2410.

Literature

Information about course literature can be found in the course memo for the course offering or in the course room in Canvas.

Examination and Completion

Grading Scale

A, B, C, D, E, FX, F

Examination

• LAB1 - Laboratory work, 2.0 credits, grading scale: A, B, C, D, E, FX, F
• LAB2 - Laboratory work, 2.0 credits, grading scale: A, B, C, D, E, FX, F
• LAB3 - Laboratory work, 2.0 credits, grading scale: A, B, C, D, E, FX, F
• LAB4 - Laboratory work, 1.5 credits, grading scale: A, B, C, D, E, FX, F

Ethical Approach

• All members of a group are responsible for the group's work
• In any assessment, every student shall honestly disclose any help received and sources used
• In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution

Further Information

Offered By

EECS/Intelligent Systems

Main Field of Study

Computer Science and Engineering

Education Cycle

Second cycle

Supplementary Information

Overlaps with DD2415. In this course, the EECS code of honor applies.