| Week | Date | Content | Readings (papers, book chapters) | Assignments |
| #1 | Jan 3 | Introduction slides |
||
| Probabilistic Models / State Estimation | ||||
| #1 | Jan 5 | Bayesian state estimation and filtering slides |
Chapters 1, 2 | HW #1 assigned: hw1.pdf |
| #2 | Jan 10 | Motion and sensor models slides 1 slides 2 |
Chapters 5, 6 (Safely skip 5.3 and all derivations) | |
| Filtering / Smoothing | ||||
| #2 | Jan 12 | Kalman Filters
(EKF) slides |
Chapter 3 (skip 3.5 and all derivations) | HW #1 due (start of class) HW #2 assigned: hw2.pdf hw2-revised.html code |
| #3 | Jan 17 | (Extended) Kalman Filters continued | ||
| Jan 19 | Beautiful Snow (no class) | |||
| #4 | Jan 24 | Particle Filters slides |
Chapter 8 | |
| Jan 26 | Unscented Kalman Filter (UKF) (previous slides include this) Discrete Bayes Filters |
Project Ideas | ||
| Mapping / SLAM | ||||
| #5 | Jan 31 | Occupany grids (slides) EKF-SLAM (slides) |
Chapter 10 | HW #2 due (start of class) |
| Feb 2 | GraphSLAM (slides see EKF-SLAM) |
Chapter 11 | ||
| #6 | Feb 7 | RGB-D SLAM (Peter) slides movies |
IJRR Paper (preprint) | |
| Planning / Control | ||||
| #6 | Feb 9 | Markov Decision Processes (MDPs) slides |
Chapter 14 | |
| #7 | Feb 14 | POMDPs, Belief Road Maps POMDP slides, BRM slides |
Chapter 15, BRM paper | |
| Feb 16 | Fast (re-)planning slides |
Anytime search paper, urban challenge paper | ||
| #8 | Feb 21 | Multi-robot mapping mapping slides |
Exploration paper | HW #3 assigned: hw3.pdf hw3.html hw3-code.tgz |
| Feb 23 | Gaussian Processes GP slides |
GPs for WiFi paper, GP BayesFilters paper |
||
| #9 | Feb 28 | Reinforcement Learning RL slides |
||
| Mar 1 | Inverse RL | Drive
like a cabby crowd navigation |
||
| #10 | Mar 6 | Object recognition | ||
| Mar 8 | Review | HW #3 due (noon, start of class) | ||
