For updated slides, please refer to this website.
Course Reader (.pdf) [Last updated 8/19/2023, 4:40 pm]
| Week no. | Tues Date1 | Topic 1 | Thurs Date | Topic 2 | Fri Date | Lab Topic | MP Notes |
| 1 | 08/25 | Overview / Intro to Safety [slides] | 08/27 | Safety 2: verification concepts, automata, requirements, counter-examples [pdf] | 08/28 | Intro, MP0 walkthrough slides | MP0 released |
| 2 | 09/01 | Safety 3: reachability, inductive invariants [pdf] | 09/03 | Perception 1: neural networks, backpropagation, gradient descent [pdf] | 09/04 | Team formation, MP1 walkthrough | MP1 released |
| 3 | 09/08 | Perception 2: NN architecture, coordinate transformations, homogeneous coordinates [pdf] | 09/10 | Perception 3: intrinsic, extrinsic matrices, calibration, perspective, projection, eigenvalue problem [pdf] | 09/11 | MP0 Demo (MP0 Due) | – |
| 4 | 09/15 | Perception 4: depth estimation, visual odometry, fundamental matrix, epipolar geometry | 09/17 | Control 1: ODEs, lipschitz contuinity, bang-bang control | 09/18 | MP2 walkthrough slides | MP2 released |
| 5 | 09/22 | GEM Field Trip (meet at the highbay facility) | 09/24 | Project Workthrough F1 Tenth, GRAIC, and Drone projects | 09/25 | MP1 Demo (MP1 due) | – |
| 6 | 09/29 | Review Session (in class) | 10/01 | Midterm 1 (in class) | 10/02 | Open Lab | – |
| 7 | 10/06 | Control 2: PID, linear systems | 10/08 | Control 3: linear systems, stability, Lyapunov, Hurwitz criteria | 10/09 | MP2 Demo (MP2 due) | |
| 8 | 10/13 | Pitch Presentation 1 | 10/15 | Pitch Presentation 2 | 10/16 | MP3 Walkthrough slides | MP3 released |
| 9 | 10/20 | Filtering 1: Markov chains, conditional probability, motion models | 10/22 | Filtering 2: localization bayes filter, histogram filter, beliefs | 10/23 | Open Lab | – |
| 10 | 10/27 | Filtering 3: Kalman filter, localization particle filter, importance sampling | 10/29 | Review Session (in class) | 10/30 | Open Lab | – |
| 11 | 11/03 | Midterm 2 (in class) | 11/05 | Filtering 4: review; SLAM | 11/06 | MP3 Demo (MP3 due) | – |
| 12 | 11/10 | Planning 1: graph search, uniform cost search | 11/12 | Planning 2: A*, optimal search, cost-to-go heuristics | 11/13 | Open Lab | – |
| 13 | 11/17 | Planning 3: hybrid A*, PRM, probabilistic completeness | 11/19 | Planning 4: RRT, RRG, asymptotic optimality | 11/20 | Open Lab | – |
| 14 | 11/24 | No Class (Fall Break) | 11/26 | No Class (Thanksgiving) | 11/27 | No Class (Fall Break) | – |
| 15 | 12/01 | 12/03 | Review Session (in class) | 12/04 | Open Lab | – | |
| 16 | 12/08 | Midterm 3 (Last Class) | 12/10 | Reading Day | – |