This schedule is tentative and subject to change.
| DATE | TOPIC | DUE | READINGS |
|---|---|---|---|
| Mar 27 | Introduction and Course Overview | ||
| Mar 29 | Anatomy of an Autonomous Vehicle | Knowledge Survey | Prob. Rob., Ch. 1, Ch. 2 |
| Mar 31 | Recursive Bayes Filtering | Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) | |
| Apr 3 | Motion and Observation Models | Prob. Rob., Ch. 4 | |
| Apr 5 | Particle Filtering | Prob. Rob., Ch. 4 | |
| Apr 7 | Discussion: Uber Accident Report (National Transportation Safety Board) | Reading | |
| Apr 10 | The Kalman Filter | Project 1: Introduction | A New Approach to Linear Filtering, Prob. Rob., Ch. 3 |
| Apr 12 | The Unscented Kalman Filter | The Unscented Kalman Filter | |
| Apr 14 | Discussion: Do Artifacts Have Politics? (Langdon Winner) | Reading | |
| Apr 17 | Introduction to Feedback Control | Underactuated Robotics Ch. 1 | |
| Apr 19 | PID Control | ||
| Apr 21 | Guest lecture Brandon Basso | ||
| Apr 24 | Pure Pursuit | Pure Pursuit, DARPA Challenge Controllers | |
| Apr 26 | Model Predictive Control | Project 2: Localization | |
| Apr 28 | Discussion: Robot Rights? Let’s Talk about Human Welfare Instead (Abeba Birhane) | Reading | |
| May 1 | Introduction to Planning | Planning Algorithms Ch 1, Ch 4.1-4.3, Ch 6.5, Ch 14.1 | |
| May 3 | Heuristic Search | A* | |
| May 5 | Discussion: Anatomy of an AI System (Kate Crawford, Vladan Joler) | Reading | |
| May 8 | Sampling-based Motion Planning | Project 3: Control | |
| May 10 | Lazy Search, Planning for Vehicles | ||
| May 12 | Guest lecture Shad Laws | ||
| May 15 | Guest Lecture Taylor | ||
| May 17 | Guest Lecture Kay | ||
| May 19 | Guest lecture Michael Koval | ||
| May 22 | Guest lecture Sanjiban Choudhury | Project 4: Planning | |
| May 24 | Guest lecture Tianshi Gao | ||
| May 26 | Conclusion | ||
| May 29 | - no lecture - | ||
| May 31 | - no lecture - | ||
| Jun 7 | Final Project Demos (2:30 pm - 4:20 pm) | Final Project |