Schedule

This schedule is tentative and subject to change.

All Slides will be posted on Canvas

DATETOPICDUEREADINGS
March 31 Introduction and Course Overview
April 2 Anatomy of an Autonomous Vehicle Knowledge Survey Prob. Rob., Ch. 1, Ch. 2
April 4 Recursive Bayes Filtering Prob. Rob., Ch. 5.2, Ch. 6 (through 6.3)
April 7 Particle Filtering Prob. Rob., Ch. 4
April 9 Motion and Observation Models Prob. Rob., Ch. 4
April 11 Reading #1 Reading responses
April 14 The Kalman Filter - TA lecture Intro Project A New Approach to Linear Filtering, Prob. Rob., Ch. 3
April 16 Quiz #1: Localization
April 18 Reading #2 Reading responses
April 21 Introduction to Feedback Control Modern Robotics, Ch. 11
April 23 PID Control, Pure Pursuit Pure Pursuit, DARPA Challenge Controllers
April 24 Localization Project Demo
April 25 Reading #3 Reading responses
April 28 Model Predictive Control Localization Project Writeup Model Predictive Control for Aggressive Driving Over Uneven Terrain
April 30 Linear Quadratic Regulator Underactuated Robotics, Ch. 8, Notes on LQR by P. Abbeel
May 2 Reading #4 Reading responses
May 5 Introduction to Planning Planning Algorithms
May 7 Heuristic Search Original A* Paper, Planning Algorithms, Ch. 2
May 8 Controls Project Demo
May 9 Quiz #2: Controls
May 12 Sampling-based Motion Planning Controls Project Writeup Planning Algorithms, Ch. 5
May 14 Lazy Search, Planning for Vehicles LazySP Paper
May 16 Introduction to Machine Learning, Behavior Cloning
May 19 Interactive Imitation Learning
May 21 Quiz #3: Planning + Learning
May 22 Planning Project Demo
May 23 Guest Lecture Learning
May 26 Memorial Day Holiday Planning Project Writeup
May 28 Guest Lecture Learning
May 30 Conclusion
June 2 Work on project
June 4 Work on project
June 5 Final Project Final Project Demo
June 6 Final Project Final Project Writeup