# Assignments

Solutions are available for selected problems below. The solutions and selected MATLAB® files are courtesy of Rick E. Cory and John W. Roberts, and are used with permission.

ASSN # TOPICS PROBLEM SETS SOLUTIONS
1

Definition of underactuated

The simple pendulum

Optimal control of the double integrator

(PDF)

calc_basin.m (M)

brick_control.m (M)

(PDF)
2

Value iteration on the double integrator

Pontryagin minimum principle

Swing-up and balance for the cart-pole system

(PDF)

brick_vi.m (M)

cartpole.m (M)

Problem 1: brick_vi_sol.m (M)

Problem 2 (PDF)

The solution to Problem 3 is unavailable.

3

Optimal swing-up for the simple pendulum

Single-pump swing-up for the cart-pole

The rimless wheel

(PDF)

pend_snopt.m (M)

pendfun.m (M)

The solutions to Problems 1 and 2 are unavailable.

Problem 3: rimlessWheel.m (M)

4

Motion planning with rapidly-exploring random trees

(PDF)

slip.m (M)

The solutions are unavailable.
5

The weight-perturbation algorithm

Temporal difference learning

(PDF)

cartpole_wp.m (M)

markov_td.m (M)

The solutions are unavailable.