Topic Reading Assignment
Sampling-based methods
  • Manipulability-based sampling
  • Visibility PRM
  • Rapidly-exploring Random Trees (RRTs)
  • Expansive-Space Trees (ESTs)
  • Deterministic sampling
  • Dispersion, discrepancy
  • Van der Corput and Halton sequences
    		• Chapter 7
    Chapter 5 of Steve LaValle's book
    Kalman filters
  • Linear observers
  • MLE and MMSE estimates
  • The Kalman filter
  • SLAM using the Kalman filter
    		• Chapter 8
    Localization and Mapping (Bayesian methods)
  • Bayesian localization
  • Bayesian mapping
    		• Chapter 9