This section contains problem sets and the final project.
Abbreviations
MILP = mixed-integer linear programming
HMM = hidden Markov model
Problem Sets
| ASSN # | TOPICS | PROBLEM SETS | SUPPORTING FILES |
|---|---|---|---|
| 1 | Introduction to Java | (PDF) | Java jump start (PDF) |
| 2 | Depth-first search and breadth-first search implementation, complexity of search algorithms | (PDF) | Incomplete code (ZIP) (This ZIP file contains: 11 .java files, 1 .py file and 1 .xml file.) |
| 3 | Proving soundness and completeness, constraint modeling | (PDF) | |
| 4 | Implementation of backtrack search and backtrack search with forward checking, using the graphplan software | (PDF) | Incomplete code (ZIP) (This ZIP file contains: 9 .java, 2 .h files, 7 .c files, 3 .txt files and 1 .exe file.) |
| 5 | Activity planning and execution, proving termination of graphplan | (PDF) | Graphplan (ZIP) (This ZIP file contains: 7 .c files, 3 .txt files, 2 .h files, 1 .exe file and 15 .svn files.) |
| 6 | Propositional logic | (PDF) | |
| 7 | Model-based diagnosis, constraint optimization, A*, conflict-directed A* |
Part 1 (PDF - 2.5MB) Part 2 (PDF) | Incomplete code (ZIP) (This ZIP file contains: 12 .java files and 1 .xml file.) |
| 8 | Mathematical programming (formulating various problems as mathematical programs, linear programming and the simplex algorithm) | (PDF) |
lpsolve instructions (PDF) Incomplete code (JAVA) Example code that interacts with lpsolve (ZIP) (This ZIP file contains: 2 .java files.) |
| 9 | Mathematical programming (MILPs) and reasoning in an uncertain world (probabilistic inference, graphical models) | (PDF) | |
| 10 | Acting in an uncertain world (HMMs, robot localization and mapping and HMM algorithms) | (PDF) | |
| 11 | Dynamic programming, machine learning, game theory | (PDF) |
Final Project
| PART # | TOPICS | PROJECTS | SUPPORTING FILES |
|---|---|---|---|
| Project overview | (PDF) | ||
| 1 | Activity planning via SATPlan | (PDF) |
PDDL parser example code (ZIP) (This ZIP file contains: 2 .pddl files and 1 .java file.) SAT solver example code (ZIP) (This ZIP file contains: 1 .java file.) Lunar logistics mission PDDL files (ZIP) (This ZIP file contains: 4 .pddl files.) |
| 2 | Path planning using rapidly-exploring random trees | (PDF) | Example environment files (ZIP) (This ZIP file contains: 1 .m and 4 .txt files.) |