16.410 | Fall 2010 | Undergraduate

Principles of Autonomy and Decision Making


This section contains problem sets and the final project.


MILP = mixed-integer linear programming

HMM = hidden Markov model

Problem Sets

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

  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.)

Course Info

Learning Resource Types
Problem Sets
Lecture Notes
Design Assignments
Programming Assignments with Examples