• Introduction to safety of robotic systems, techniques and approaches.
• Safety/reachability analysis, safe set representation and reachability analysis for dynamical systems.
• Safe robot control, invariant sets, potential fields and control barrier functions.
• Fail-safe and risk-aware planning.
• Advanced motion planning algorithms, feedback motion planning, sampling-based motion planning under differential constraints, trajectory optimization.
• Task planning and integrated task and motion planning.
• Formal methods for robot planning and control. Discrete- and continuous-time temporal logics for goal and constraint specification. Correct-by-design planning and control.
• Reinforcement learning for robot control, reinforcement learning for planning under uncertainty, safe reinforcement learning.
• Multi-agent planning and control.

After passing the course, the student shall be able to

• Account for and apply different principles of robot planning and control.
• Formulate a planning and control problem for a given robotic application.
• Select and motivate appropriate techniques for robot planning and control for various contexts and domains.
• Analyze and evaluate safety of a given robotic system.

Lectures in parallel with DD2416. Quizzes on lectured topics and a project.

Basic knowledge of robotics and robot control.

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Students at KTH with a permanent disability can get support during studies from Funka:

Funka - compensatory support for students with disabilities

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• TEN1 - Written examen, 1.5 credits, grading scale: P, F
• LAB1 - Laboratory work, 6.0 credits, grading scale: P, F

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

If the course is discontinued, students may request to be examined during the following two academic years.

The examination will be via quizzes and a project focused on implementation of a technique related to safety analysis, safe planning, safe control, or similar.

• All members of a group are responsible for the group's work.
• In any assessment, every student shall honestly disclose any help received and sources used.
• In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.