Course Reader (.pdf) [Last updated 8/19/2023, 4:40 pm]
| Week | Lecture/Lab | Date | Topic | MP | Link |
|---|---|---|---|---|---|
| 1 | C1 | Aug-22, Tue | Overview, State Machines, Safety Analysis | MP0 Safety out | slides |
| C2 | Aug-24, Thu | End-to-end Safety 1 Automata, executions, requirements, safety, Post, invariance | slides notes |
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| L1 | Aug-25, Fri | Lab Introductions, Team Formation, MP0 Walkthrough | |||
| 2 | C3 | Aug-29, Tue | End-to-end Safety 2 Invariance, inductive invariants, applications. | notes | |
| C4 | Aug-31, Thu | Perception basics Linear filtering, convolution, de-noising | MP1 Lane detection out | slides | |
| L2 | Sept 1, Fri | Lab MP1 Walkthrough | |||
| Sept 4, Mon | Labor day | ||||
| 3 | C5 | Sept-5, Tue | Perception 2 Edge detection, image gradients, recognition, classification | slides | |
| C6 | Sept 7, Thu | Perception 3, recognition | |||
| L3 | Sept 8, Fri | Lab | MP0 due | ||
| 4 | C7 | Sept-12, Tue | Control 1 ODEs, Vehicle Models | slides notes |
|
| C8 | Sept-14, Thu | Control 2 PID Control, Linear Systems, State Feedback | MP2 Vehicle control out | notes notes |
|
| L4 | Sept 15, Fri | Lab MP2 Walkthrough | |||
| 5 | C9 | Sept-19, Tue | Lab Visit Field Trip | ||
| C10 | Sept-21, Thu | Control 3 Stability, Lyapunov theory, invariance | notes |
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| L5 | Sept 22, Fri | Lab | MP1 due | ||
| 6 | C11 | Sept-26, Tue | Control Review Software project overview | slides video |
|
| R1 | Sept-28, Thu | Review session | |||
| L6 | Sept 29, Fri | Lab | |||
| 7 | M1 | Oct 3, Tue | Midterm 1 | ||
| C12 | Oct-5, Thu | Filtering Intro Intro, background, Bayes filter | slides | ||
| L7 | Oct 6, Fri | Lab | MP2 due | ||
| 8 | C13 | Oct-10, Tue | Filtering Continued Bayes filter, histogram filter, grid localization | ||
| C14 | Oct-12, Thu | Filtering Continued Particle filter and monte carlo localization | MP3 Filtering and localization out | slides | |
| L8 | Oct 13, Fri | Lab MP3 Walkthrough | |||
| 9 | C15 | Oct 17, Tue | Filtering Misc. Topics, Kalman Filter and SLAM, overwiew Uninformed search | slides | |
| C16 | Oct-19, Thu | Planning Uniform search | slides | ||
| L9 | Oct 20, Fri | Lab | |||
| 10 | P1 | Oct-24, Tue | Pitch Presentation1 | ||
| P2 | Oct-26, Thu | Pitch Presentation2 | |||
| L10 | Oct 27, Fri | Lab | MP3 due | ||
| 11 | C17 | October 31, Tue | Planning 2 Greedy search, A*, hybrid A*, Sampling-based, RRT, RRT* | slides | |
| C18 | Nov-2, Thu | Planning 3 Greedy search, A*, hybrid A*, Sampling-based, RRT, RRT* | slides | ||
| L11 | Nov 3, Fri | Lab | |||
| 12 | C19 | Nov-7, Tue | Review | Notes | |
| C20 | Nov-9, Thu | Guest Lecture | |||
| P3 | Nov 10, Fri | Course wrap-up Intermediate check-in | |||
| 13 | M2 | November 14, Tue | Midterm 2 | ||
| P4 | Nov-16, Thu | No Lecture | |||
| Nov 21, Tue | Fall Break | ||||
| Nov 23, Thu | Fall Break | ||||
| Nov 24, Fri | Fall Break | ||||
| 14 | P5 | Nov-28, Tue | Course wrap-up Intermediate check-in | ||
| P6 | Nov-30, Thu | Project Presentations | |||
| P7 | Dec-1, Fri | ||||
| P8 | Dec 5, Tue | Project Presentations; last day of classes | |||
| Dec 10, Sun | Final date for video uploads | ||||
| Dec 21, Thu | Deadline for grades upload |