This schedule is tentative and subject to change.
| DATE | TOPIC | DUE | READINGS |
|---|---|---|---|
| March 25 | Introduction and Course Overview | ||
| March 27 | Anatomy of an Autonomous Vehicle | Knowledge Survey | Prob. Rob., Ch. 1, Ch. 2 |
| March 29 | Recursive Bayes Filtering | Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) | |
| April 1 | Motion and Observation Models | Prob. Rob., Ch. 4 | |
| April 3 | Particle Filtering | Prob. Rob., Ch. 4 | |
| April 5 | Taylor: Discussion: Uber Accident Report (National Transportation Safety Board) | Reading responses | Reading |
| April 8 | Taylor: The Kalman Filter | A New Approach to Linear Filtering, Prob. Rob., Ch. 3 | |
| April 10 | Taylor: The Unscented Kalman Filter | Unscented Kalman Filter | |
| April 12 | Taylor: Discussion: Moral Crumple Zones: Cautionary Tales in Human-Robot Interaction (Madeleine Clare Elish) |
Reading responses, Intro Project | Reading |
| April 15 | Introduction to Feedback Control | Quiz #1: Localization | Underactuated Robotics Ch. 1 |
| April 17 | PID Control, Pure Pursuit | Pure Pursuit, DARPA Challenge Controllers | |
| April 19 | Taylor: Discussion: Robots in society, society in robots Mutual shaping of society and technology as a framework for social robot design (Selma Sabanovic) |
Reading responses | Reading |
| April 22 | Model Predictive Control | Localization Project | |
| April 24 | Intro to Autonomous HRI | ||
| April 26 | Taylor: Discussion: Robot Rights? Let’s Talk about Human Welfare Instead (Abeba Birhane, Jelle van Dijkc) | Reading | |
| April 29 | Introduction to Planning | Quiz #2: Controls | Planning Algorithms Ch 1, Ch 4.1-4.3, Ch 6.5, Ch 14.1 |
| May 1 | Heuristic Search | ||
| May 3 | Taylor: Discussion: Toward Morality and Ethics for Robots (Benjamin Kuipers) |
Reading responses | Reading |
| May 6 | Sampling-based Motion Planning | Controls Project | |
| May 8 | Guest Lecture | ||
| May 10 | Taylor: Discussion: Trust in Robots: Challenges and Opportunities (Bing Cai Kok, Harold Soh) | Reading responses | Reading |
| May 13 | Lazy Search, Planning for Vehicles | A* | |
| May 15 | Taylor: Reinforcement Learning (SARSA, Q-Learning) | ||
| May 17 | Taylor: Discussion: Trust and Bias in Robots: These elements of artificial intelligence present ethical challenges, which scientists are trying to solve (Ayanna Howard, Jason Borenstein) |
Reading responses | Reading |
| May 20 | Taylor: Inverse Reinforcement Learning | Quiz #3: Planning and Learning, Planning Project | |
| May 22 | Conclusion | ||
| May 24 | Work on project | ||
| May 27 | Memorial Day Holiday | ||
| May 29 | Work on project | ||
| May 31 | Final Project Demos (Time TBD) | Final Project | |
| June 3 | |||
| June 5 | |||
| June 7 |