Teaching
Courses lectured
In Spring Semester 2019 I taught the following courses:
I have reformatted 4 lectures on polynomial optimization for control (moment and sum-of-squares methods) into stand-alone material. These were originally taught as the final part of Advanced Topics in Control in Spring Semester 2019.
- Lecture 1 – The Moment-Sum-of-Squares Hierarchy
- Lecture 2 – Sum-of-Squares Lyapunov Methods
- Lecture 3 – Polynomial Methods for Robotics
- Lecture 4 – Robust Motion Planning using SOS Methods
In Spring Semester 2017 I taught part of the graduate course Game Theory and Control.
Student projects
The most recent student projects I supervised in 2019 are listed below.
- Fast C++ sum of squares optimization toolbox
- Real-time Artificial Intelligence for a robot billiard player
- Spin shots for a robotic billiard player
- Machine learning of billiard ball dynamics
- Convolutional neural networks for billiard state estimation
- Vision-aided localization for an automated billiard player
- Control of a robot arm for an automated billiard player
- Approximate dynamic programming on manifolds for robotics
- Approximate dynamic programming for an Artificial Intelligence billiard player