15-887*/16-830: Planning, Execution, and Learning
MW 1:30-2:50pm, NSH 3002
Fall 2008

• Reid Simmons (reids@cs.cmu.edu)
• Manuela Veloso (mmv@cs.cmu.edu)
  • Office hours: by appointment, please send email.

This course will explore both classical and modern approaches to planning. Issues to be discussed include: how to represent actions and world state, how to search for plans efficiently, how to deal with uncertainty in actions and the world state, how to find "good" or "optimal" plans,how to represent time, and how to dynamically combine planning and execution.

Specific planning techniques to be covered include: means-ends analysis, linear and non-linear planning, partial-order planning, graph-based planning, heuristic planning, BBD-based planning, hierarchical planning, temporal planning, conditional and conformant planning, probabilistic planning and learning using Markov models (MDPs and POMDPs), integration of planning, perception and execution, execution monitoring and replanning, path planning, multi-agent planning, and scheduling.

There are no explicit prerequisites, but a basic knowledge of AI is assumed.

• Schedule, Course Notes, and Readings :
  • contains the current class schedule, pointers to materials presented in the lectures, notes, and pointers to readings.
• Homeworks:
  • contains information about each assignment, as it becomes available.