Course Reader (.pdf) [Last updated 8/19/2023, 4:40 pm]
🎥 Video recordings will be posted on Mediaspace after each class.
| Week no. | Tues Date1 | Topic 1 | Thurs Date | Topic 2 | Fri Date | Lab Topic | MP Notes |
| 1 | 08/26 | Overview / Intro to Safety (slides) | 08/28 | Safety 2: verification concepts, automata, requirements, counter-examples (slides) | 08/29 | Intro, MP0 walkthrough slides | MP0 released |
| 2 | 09/02 | Safety 3: reachability, inductive invariants (slides) | 09/04 | Perception 1: neural networks, gradient descent (slides) | 09/05 | Team formation, MP1 walkthrough | MP1 released |
| 3 | 09/09 | Perception 2: intrinsic, extrinsic matrices, homogeneous coordinates (slides) | 09/11 | Perception 3: calibration, perspective, projection, eigenvalue problem (slides) | 09/12 | MP0 Demo (MP0 Due) | – |
| 4 | 09/16 | Perception 4: depth estimation, visual odometry, fundamental matrix, epipolar geometry (slides) | 09/18 | Control 1: ODEs, lipschitz contuinity, bang-bang control (slides) | 09/19 | MP2 walkthrough slides | MP2 released |
| 5 | 09/23 | GEM Field Trip (meet at the highbay facility) | 09/25 | Control 2: PID, linear systems (slides) | 09/26 | MP1 Demo (MP1 due) | – |
| 6 | 09/30 | Control 3: linear systems, stability, Lyapunov, Hurwitz criteria (slides) | 10/02 | Project Workthrough F1 Tenth, GRAIC, and Drone projects (meet at ECEB 1015; we will walk to CSL studio) | 10/03 | MP2 Demo (MP2 due) | – |
| 7 | 10/07 | Midterm 1 | 10/09 | Filtering 1: Markov chains, conditional probability, motion models (slides) | 10/10 | MP3 Walkthrough slides | MP3 released |
| 8 | 10/14 | Pitch Presentation 1 | 10/16 | Pitch Presentation 2 | 10/17 | Open Lab | – |
| 9 | 10/21 | Filtering 2: localization bayes filter, histogram filter, beliefs (slides) | 10/23 | Filtering 3: Kalman filter, localization particle filter, importance sampling (slides) | 10/24 | Open Lab | – |
| 10 | 10/28 | Filtering 4: review; SLAM (slides) | 10/30 | Planning 1: graph search, uniform cost search (slides) | 10/31 | MP3 Demo (MP3 due) | – |
| 11 | 11/04 | Planning 2: A*, optimal search, cost-to-go heuristics (slides) | 11/06 | Planning 3: hybrid A*, PRM, probabilistic completeness (slides) | 11/07 | – | |
| 12 | 11/11 | Planning 4: RRT, RRG, asymptotic optimality (slides) | 11/13 | Prepare for your Project checkpoint | 11/14 | (See CampusWire for details of the project checkpoint) | – |
| 13 | 11/18 | Review Session (in class) | 11/20 | Midterm2 (in class) | 11/21 | – | – |
| 15 | 12/02 | Guest Lecture Hongge Chen (Cruise) Zoom | 12/04 | No class (work on your project) | 12/05 | – | – |
| 15 | 12/09 | Guest Lecture Prof. Zhouxing Shi (UC Riverside) Zoom | 12/11 | Reading day | 12/12 | Final presentations 8 am – 11 am ECEB 1015 | – |
| 16 |