Research

Project Ideas:

1. Belief space planning for legged robots in a known map: SLAP for legged robots
   • Gait and Trajectory generation of legged robots:
   • Model Predictive Control of legged robots:
   • LQG or state estimation of legged robots:
2. Planning under uncertainty for underwater autonomous vehicle by reducing surfacing: Belief space planning
3. Planning under uncertainty for cars with pedestrians around : DESPOT+prediction of environment=PORCA
4. Planning under uncertainty for field robots in an unknown environment : Generalized Belief space
5. POMDP for hybrid systems (discrete and continuous state space)

Interesting Papers:

1. PORCA (uses DESPOT) : https://arxiv.org/pdf/1805.11833.pdf
2. DESPOT : https://papers.nips.cc/paper/5189-despot-online-pomdp-planning-with-regularization.pdf
3. SLAP (uses FIRM) : https://arxiv.org/pdf/1510.07380.pdf
4. Generalized Belief space planning (mapping + loop closure): https://pdfs.semanticscholar.org/9e4e/d0d1ee9429b047821595e900499d92590ea1.pdf

Topics to review:

• Convex Optimization
• Non-linear Optimization
• Planning
• Trajectory Optimization