https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=EECI_2012%3A_Computer_Session%3A_TuLiP 2026-09-05T06:45:55Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=14093&oldid=prev 2012-05-17T07:38:54Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 07:38, 17 May 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l7">Line 7:</td> <td colspan="2" class="diff-lineno">Line 7:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/C2_tulip-17May12.pdf TuLiP] (Exercises are at the end of the slides.)</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://<ins style="font-weight: bold; text-decoration: none;">www</ins>.<ins style="font-weight: bold; text-decoration: none;">cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech.edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/C2_tulip-17May12.pdf TuLiP] (Exercises are at the end of the slides.)</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/plotRobotSim.m plotRobotSim.m], [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/plotCarSim.m plotCarSim.m]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://<ins style="font-weight: bold; text-decoration: none;">www.cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech</ins>.<ins style="font-weight: bold; text-decoration: none;">edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/plotRobotSim.m plotRobotSim.m], [http://<ins style="font-weight: bold; text-decoration: none;">www</ins>.<ins style="font-weight: bold; text-decoration: none;">cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech.edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/plotCarSim.m plotCarSim.m]</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/tulip_examples.zip Example TuLiP files] (zip file):  </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [http://<ins style="font-weight: bold; text-decoration: none;">www</ins>.<ins style="font-weight: bold; text-decoration: none;">cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech.edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/tulip_examples.zip Example TuLiP files] (zip file):  </div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>** 6 cell robot, discrete state space: [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/robot_discrete_simple.py robot_discrete_simple.py]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>** 6 cell robot, discrete state space: [http://<ins style="font-weight: bold; text-decoration: none;">www</ins>.<ins style="font-weight: bold; text-decoration: none;">cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech.edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/robot_discrete_simple.py robot_discrete_simple.py]</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>** 6 cell robot, with dynamics: [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/robot_simple.py robot_simple.py], [http://<del style="font-weight: bold; text-decoration: none;">dl</del>.<del style="font-weight: bold; text-decoration: none;">dropbox</del>.<del style="font-weight: bold; text-decoration: none;">com</del>/<del style="font-weight: bold; text-decoration: none;">u</del>/<del style="font-weight: bold; text-decoration: none;">29005314</del>/robot_simple2.py robot_simple2.py] (alternative formulation)</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>** 6 cell robot, with dynamics: [http://<ins style="font-weight: bold; text-decoration: none;">www.cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech</ins>.<ins style="font-weight: bold; text-decoration: none;">edu/~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses</ins>/<ins style="font-weight: bold; text-decoration: none;">eeci-sp12</ins>/robot_simple.py robot_simple.py], [http://<ins style="font-weight: bold; text-decoration: none;">www</ins>.<ins style="font-weight: bold; text-decoration: none;">cds</ins>.<ins style="font-weight: bold; text-decoration: none;">caltech.edu</ins>/<ins style="font-weight: bold; text-decoration: none;">~murray</ins>/<ins style="font-weight: bold; text-decoration: none;">courses/eeci-sp12</ins>/robot_simple2.py robot_simple2.py] (alternative formulation)</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-14092:rev-14093:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=14092&oldid=prev 2012-05-17T07:33:05Z

<p><span class="autocomment">Further Reading</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 07:33, 17 May 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l15">Line 15:</td> <td colspan="2" class="diff-lineno">Line 15:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning, T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu and R. M. Murray, Hybrid Systems: Computation and Control, 2011. &lt;/p&gt;</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;<ins style="font-weight: bold; text-decoration: none;">[http://www.cds.caltech.edu/~murray/papers/2010n_wtoxm11-hscc.html </ins>TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning<ins style="font-weight: bold; text-decoration: none;">]</ins>, T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu and R. M. Murray, Hybrid Systems: Computation and Control, 2011. &lt;/p&gt;</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Additional Information ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Additional Information ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-14081:rev-14092:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=14081&oldid=prev 2012-05-16T13:17:24Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 13:17, 16 May 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td> <td colspan="2" class="diff-lineno">Line 1:</td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>{{<del style="font-weight: bold; text-decoration: none;">AFRL12 </del>header|prev=<del style="font-weight: bold; text-decoration: none;">Receding Horizon Temporal Logic Planning </del>|next=<del style="font-weight: bold; text-decoration: none;">....</del>}}</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>{{<ins style="font-weight: bold; text-decoration: none;">eeci-sp12 </ins>header|prev=<ins style="font-weight: bold; text-decoration: none;">Protocol Synthesis</ins>|next=<ins style="font-weight: bold; text-decoration: none;">RHTLP</ins>}}</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>This lecture provides an overview of TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to a GR[1] specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from GR[1] specifications, and (3) receding horizon planning. The underlying digital design synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the receding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>This lecture provides an overview of TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to a GR[1] specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from GR[1] specifications, and (3) receding horizon planning. The underlying digital design synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the receding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-14003:rev-14081:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=14003&oldid=prev 2012-05-10T04:49:57Z

<p><span class="autocomment">Lecture Materials</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 04:49, 10 May 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l7">Line 7:</td> <td colspan="2" class="diff-lineno">Line 7:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://<del style="font-weight: bold; text-decoration: none;">www</del>.<del style="font-weight: bold; text-decoration: none;">cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech.edu</del>/<del style="font-weight: bold; text-decoration: none;">~utopcu</del>/<del style="font-weight: bold; text-decoration: none;">AFRL2012</del>/<del style="font-weight: bold; text-decoration: none;">C2_TuLiP</del>.pdf TuLiP] (Exercises are at the end of the slides.)</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">C2_tulip-17May12</ins>.pdf TuLiP] (Exercises are at the end of the slides.)</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://<del style="font-weight: bold; text-decoration: none;">www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">plotRobotSim</ins>.m <ins style="font-weight: bold; text-decoration: none;">plotRobotSim</ins>.m], [http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">plotCarSim</ins>.<ins style="font-weight: bold; text-decoration: none;">m plotCarSim</ins>.<ins style="font-weight: bold; text-decoration: none;">m</ins>]</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">* Nine cell example: [http://www</del>.<del style="font-weight: bold; text-decoration: none;">cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech.edu</del>/<del style="font-weight: bold; text-decoration: none;">~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12/plotNineCell</del>.m <del style="font-weight: bold; text-decoration: none;">plotNineCell</del>.m], [http://<del style="font-weight: bold; text-decoration: none;">www.cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech</del>.<del style="font-weight: bold; text-decoration: none;">edu</del>/<del style="font-weight: bold; text-decoration: none;">~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12/nine_cell0</del>.<del style="font-weight: bold; text-decoration: none;">py nine_cell0</del>.<del style="font-weight: bold; text-decoration: none;">py</del>]<del style="font-weight: bold; text-decoration: none;">, </del>[http://<del style="font-weight: bold; text-decoration: none;">www</del>.<del style="font-weight: bold; text-decoration: none;">cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech.edu</del>/<del style="font-weight: bold; text-decoration: none;">~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12/nine_cell_sim</del>.<del style="font-weight: bold; text-decoration: none;">txt nine_cell_sim.txt</del>]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* </ins>[http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">tulip_examples</ins>.<ins style="font-weight: bold; text-decoration: none;">zip Example TuLiP files</ins>] <ins style="font-weight: bold; text-decoration: none;">(zip file): </ins></div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* <del style="font-weight: bold; text-decoration: none;">Intersection example</del>: [http://<del style="font-weight: bold; text-decoration: none;">www.cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech</del>.<del style="font-weight: bold; text-decoration: none;">edu/~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12</del>/<del style="font-weight: bold; text-decoration: none;">plotIntersection</del>.<del style="font-weight: bold; text-decoration: none;">m plotIntersection</del>.<del style="font-weight: bold; text-decoration: none;">m</del>], [http://<del style="font-weight: bold; text-decoration: none;">www.cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech</del>.<del style="font-weight: bold; text-decoration: none;">edu/~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12</del>/<del style="font-weight: bold; text-decoration: none;">intersection0</del>.py <del style="font-weight: bold; text-decoration: none;">intersectionl0</del>.py], [http://<del style="font-weight: bold; text-decoration: none;">www.cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech</del>.<del style="font-weight: bold; text-decoration: none;">edu/~murray</del>/<del style="font-weight: bold; text-decoration: none;">courses</del>/<del style="font-weight: bold; text-decoration: none;">afrl-sp12</del>/<del style="font-weight: bold; text-decoration: none;">intersection_sim</del>.<del style="font-weight: bold; text-decoration: none;">txt intersection_sim</del>.<del style="font-weight: bold; text-decoration: none;">txt</del>]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>*<ins style="font-weight: bold; text-decoration: none;">* 6 cell robot, discrete state space</ins>: [http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">robot_discrete_simple</ins>.<ins style="font-weight: bold; text-decoration: none;">py robot_discrete_simple</ins>.<ins style="font-weight: bold; text-decoration: none;">py</ins>]</div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">** 6 cell robot</ins>, <ins style="font-weight: bold; text-decoration: none;">with dynamics: </ins>[http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">robot_simple</ins>.py <ins style="font-weight: bold; text-decoration: none;">robot_simple</ins>.py], [http://<ins style="font-weight: bold; text-decoration: none;">dl</ins>.<ins style="font-weight: bold; text-decoration: none;">dropbox</ins>.<ins style="font-weight: bold; text-decoration: none;">com</ins>/<ins style="font-weight: bold; text-decoration: none;">u</ins>/<ins style="font-weight: bold; text-decoration: none;">29005314</ins>/<ins style="font-weight: bold; text-decoration: none;">robot_simple2</ins>.<ins style="font-weight: bold; text-decoration: none;">py robot_simple2</ins>.<ins style="font-weight: bold; text-decoration: none;">py</ins>] <ins style="font-weight: bold; text-decoration: none;">(alternative formulation)</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13935:rev-14003:php=table --> </table>

Tw68 https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13935&oldid=prev 2012-04-26T15:29:13Z

<p><span class="autocomment">Lecture Materials</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:29, 26 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l10">Line 10:</td> <td colspan="2" class="diff-lineno">Line 10:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Nine cell example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m plotNineCell.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell0.py nine_cell0.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell_sim.txt nine_cell_sim.txt]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Nine cell example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m plotNineCell.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell0.py nine_cell0.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell_sim.txt nine_cell_sim.txt]</div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Intersection example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotIntersection.m plotIntersection.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/intersection0.py intersectionl0.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/intersection_sim.txt intersection_sim.txt]</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13934:rev-13935:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13934&oldid=prev 2012-04-26T15:26:45Z

<p><span class="autocomment">Lecture Materials</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:26, 26 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l9">Line 9:</td> <td colspan="2" class="diff-lineno">Line 9:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP] (Exercises are at the end of the slides.)</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP] (Exercises are at the end of the slides.)</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Nine cell example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m plotNineCell.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/<del style="font-weight: bold; text-decoration: none;">ninecell0</del>.py <del style="font-weight: bold; text-decoration: none;">ninecell0</del>.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell_sim.txt nine_cell_sim.txt]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Nine cell example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m plotNineCell.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/<ins style="font-weight: bold; text-decoration: none;">nine_cell0</ins>.py <ins style="font-weight: bold; text-decoration: none;">nine_cell0</ins>.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell_sim.txt nine_cell_sim.txt]</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13933:rev-13934:php=table --> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13933&oldid=prev 2012-04-26T15:26:08Z

<p><span class="autocomment">Lecture Materials</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:26, 26 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l8">Line 8:</td> <td colspan="2" class="diff-lineno">Line 8:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP] (Exercises are at the end of the slides.)</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP] (Exercises are at the end of the slides.)</div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* MATLAB plotting: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m</ins></div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Nine cell example: [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/plotNineCell.m plotNineCell.m], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/ninecell0.py ninecell0.py], [http://www.cds.caltech.edu/~murray/courses/afrl-sp12/nine_cell_sim.txt nine_cell_sim.txt]</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> </table>

Murray https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13918&oldid=prev 2012-04-22T03:48:56Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 03:48, 22 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l7">Line 7:</td> <td colspan="2" class="diff-lineno">Line 7:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/C2_TuLiP.pdf TuLiP] <ins style="font-weight: bold; text-decoration: none;">(Exercises are at the end of the slides.)</ins></div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13917:rev-13918:php=table --> </table>

Utopcu https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13917&oldid=prev 2012-04-22T03:48:26Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 03:48, 22 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l7">Line 7:</td> <td colspan="2" class="diff-lineno">Line 7:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Lecture Materials ==</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/<del style="font-weight: bold; text-decoration: none;">L11_tulip-24Mar11</del>.pdf TuLiP]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Lecture slides: [http://www.cds.caltech.edu/~utopcu/AFRL2012/<ins style="font-weight: bold; text-decoration: none;">C2_TuLiP</ins>.pdf TuLiP]</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Further Reading ==</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13916:rev-13917:php=table --> </table>

Utopcu https://murray.cds.caltech.edu/index.php?title=EECI_2012:_Computer_Session:_TuLiP&diff=13916&oldid=prev 2012-04-22T03:40:11Z

<p><span class="autocomment">Additional Information</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 03:40, 22 April 2012</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l15">Line 15:</td> <td colspan="2" class="diff-lineno">Line 15:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Additional Information ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>==  Additional Information ==</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[http://sourceforge.net/apps/mediawiki/tulip-control/index.php?title=Main_Page TuLiP on SourceForge] &lt;/p&gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[http://sourceforge.net/apps/mediawiki/tulip-control/index.php?title=Main_Page TuLiP on SourceForge] &lt;/p&gt;</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[<del style="font-weight: bold; text-decoration: none;">https</del>://<del style="font-weight: bold; text-decoration: none;">www</del>.<del style="font-weight: bold; text-decoration: none;">cds</del>.<del style="font-weight: bold; text-decoration: none;">caltech.edu</del>/<del style="font-weight: bold; text-decoration: none;">subversion</del>/<del style="font-weight: bold; text-decoration: none;">nok</del>/<del style="font-weight: bold; text-decoration: none;">rhtlp</del>/<del style="font-weight: bold; text-decoration: none;">trunk</del>/doc/<del style="font-weight: bold; text-decoration: none;">build/html/index</del>.html <del style="font-weight: bold; text-decoration: none;">TuLiP Documentation</del>] <del style="font-weight: bold; text-decoration: none;">For guest access, use ''anonymous'' as username with no password </del>&lt;/p&gt;</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[<ins style="font-weight: bold; text-decoration: none;">http</ins>://<ins style="font-weight: bold; text-decoration: none;">tulip-control</ins>.<ins style="font-weight: bold; text-decoration: none;">sourceforge</ins>.<ins style="font-weight: bold; text-decoration: none;">net</ins>/<ins style="font-weight: bold; text-decoration: none;">doc</ins>/ <ins style="font-weight: bold; text-decoration: none;">TuLiP Documentation] and [http:</ins>//<ins style="font-weight: bold; text-decoration: none;">tulip-control.sourceforge.net</ins>/doc/<ins style="font-weight: bold; text-decoration: none;">install</ins>.html <ins style="font-weight: bold; text-decoration: none;">Installation instructions</ins>] &lt;/p&gt;</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[http://jtlv.ysaar.net/ JTLV Project Home Site] JTLV provides the framework for the underlying digital design synthesis routine used in TuLiP. &lt;/p&gt;</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* &lt;p&gt;[http://jtlv.ysaar.net/ JTLV Project Home Site] JTLV provides the framework for the underlying digital design synthesis routine used in TuLiP. &lt;/p&gt;</div></td></tr> <!-- diff cache key acs_math_mw_144-murraycds_:diff:1.41:old-13915:rev-13916:php=table --> </table>

Utopcu