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 | The spring loaded inverted pendulum 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. |