Autumn Semester 2020 takes place in a mixed form of online and classroom teaching.
Please read the published information on the individual courses carefully.

151-0607-00L  Optimal & Learning Control for Autonomous Robots

SemesterSpring Semester 2016
LecturersJ. Buchli
Periodicityyearly recurring course
CourseDoes not take place this semester.
Language of instructionEnglish


AbstractThe students will learn the fundamentals of optimal and learning control. They will learn how these fundamental ideas can be applied to real world problems encountered in autonomous and articulated robots.
ObjectiveAfter this lecture the students will have the understanding and tools to apply learning and optimal control to problems encountered in robotics and other fields.
Lecture notesA basic script and slide handouts will be given.
LiteratureStengel, Optimal Control and Estimation
http://www.amazon.com/Optimal-Control-Estimation-Dover-Mathematics/dp/0486682005

Bertsekas, Dynamic Programming & Optimal Control
http://www.amazon.com/Dynamic-Programming-Optimal-Control-Vol/dp/1886529264

Sutton & Barto, Reinforcement Learning: An Introduction
Link

Additional literature will be given in the class.
Prerequisites / NoticeGood knowledge of Linear Algebra, Multivariable Calculus, Probability, and Basic Control Theory is a must. Good programming skills and knowledge of PDEs and ODEs are highly recommended. Classes on optimal control, as well as on probability are a recommended preparation for this class.