The lecture will discuss main topics from Planning and optimal control theory. The topics discussed will be:

1. Discrete and Heuristic Search

2. Motion Planning

3. Dealing with dynamics and Stochastic Optimal Control

4. Reinforcement Learning

Lehrbücher:

1. H. Geffner, B. Bonet (2013): A Concise Introduction to Models and Methods for Automated Planning.
2. D. Nau, M. Ghallab, P. Traverso (2004): Automated Planning: Theory and Practice.
3. H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki and S. Thrun.(2005): Principles of Robot Motion: Theory, Algorithms, and Implementations.
4. Steve LaValle (2006): Planning Algorithms.
5. Dimitri P. Bertsekas (2007): Dynamic Programming and Optimal Control,3rd ed. Vols. I and II.
6. Richard S. Sutton and Andrew G. Barto. (1998): Reinforcement Learning: An Introduction.