| Jan 3 |
Introduction and Course Overview (Recording) |
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Additional ROS Review |
| Jan 5 |
Anatomy of an Autonomous Vehicle (Recording) |
Knowledge Survey |
Prob. Rob., Ch. 1, Ch. 2 |
| Jan 8 |
Recursive Bayes Filtering (Recording) |
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Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3) |
| Jan 10 |
Motion and Observation Models (Recording) |
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Prob. Rob., Ch. 4 |
| Jan 12 |
Motion Models + Kalman Filtering (Recording) |
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A New Approach to Linear Filtering, Prob. Rob., Ch. 3 |
| Jan 15 |
Martin Luther King Jr. Day (- no lecture -) |
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| Jan 17 |
Kalman Filtering (Recording) |
Project 1: Introduction |
A New Approach to Linear Filtering, Prob. Rob., Ch. 3 |
| Jan 19 |
Particle Filter (Recording) |
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Prob. Rob., Ch. 4 |
| Jan 22 |
Particle Filtering and EKF (Recording) |
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The Unscented Kalman Filter |
| Jan 24 |
Paper Readings: State Estimation |
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| Jan 26 |
Introduction to Feedback Control (Recording (Part 1)) (Recording (Part 2)) |
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| Jan 29 |
PID Control and Pure Pursuit (Recording) |
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Pure Pursuit, DARPA Challenge Controllers |
| Jan 31 |
Pure Pursuit and LQR (Recording) |
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Linear Quadratic Regulator Slides |
| Feb 2 |
Linear Quadratic Regulator Continued (Recording) |
Project 2: Localization |
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| Feb 5 |
Sampling-based MPC + Lyapunov Stability (Recording) |
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| Feb 7 |
Paper Readings: Control |
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| Feb 9 |
Introduction to Planning and Heuristic Search (Recording) |
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A*, Planning Algorithms Ch 1, Ch 4.1-4.3, Ch 6.5, Ch 14.1 |
| Feb 12 |
Sampling-based Motion Planning (Recording) |
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| Feb 14 |
A* search, Lazy Search (Recording) |
Project 3: Control |
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| Feb 16 |
Paper Readings: Search |
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| Feb 19 |
Presidents Day (- no lecture -) |
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| Feb 21 |
Imitation Learning (Recording) |
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| Feb 23 |
Reinforcement Learning - Policy Gradient (Recording) |
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| Feb 26 |
Reinforcement Learning - More Policy Gradient |
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| Feb 28 |
Reinforcement Learning - Model-Based RL |
Project 4: Planning |
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| Mar 1 |
Guest Lecture 1: Paarth Shah and Benjamin Burchfiel (TRI) |
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| Mar 4 |
Guest Lecture 2: Vikash Kumar (CMU) |
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| Mar 6 |
Paper Readings: Learning |
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| Mar 11 |
Final Project Demos (2:30 pm - 4:20 pm) |
Final Project |
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