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 | 01/21 | Overview / Safety 1 slides, video | 01/23 | Safety 2: automata, requirements, counter-examples slides, video | 01/24 | Intro, MP0 walkthrough slides | MP0 released |
| 2 | 01/28 | Safety 3: reachability, inductive invariants slides | 01/30 | Perception 1: neural networks, gradient descent slides, video | 01/31 | Team formation, MP1 walkthrough | MP1 released |
| 3 | 02/04 | Perception 2: intrinsic, extrinsic matrices, homogeneous coordinates slides, video | 02/06 | Perception 3: calibration, perspective, projection, eigenvalue problem slides, video | 02/07 | MP0 Demo (MP0 Due) | – |
| 4 | 02/11 | Perception 4: depth estimation, visual odometry, fundamental matrix, epipolar geometry slides, video | 02/13 | Control 1: ODEs, lipschitz contuinity, bang-bang control slides, video | 02/14 | MP2 walkthrough slides | MP2 released |
| 5 | 02/18 | GEM Field Trip | 02/20 | Control 2: pid, linear systems slides, video ROS Evening Lecture | 02/21 | MP1 Demo (MP1 due) | – |
| 6 | 02/25 | Control 3: linear systems, stability, lyapunov, hurwitz criteria slides, video | 02/27 | GRAIC Project Walkthrough GRAIC_Slides F1Tenth Walkthrough F1Tenth slides Drone walkthrough Drone_slides | 02/28 | MP2 Demo (MP2 due) | – |
| 7 | 03/04 | Midterm 1 (exam review video) | 03/06 | Filtering 1: markov chains, conditional probability, motion models slides, video | 03/07 | MP3 Walkthrough slides | MP3 released |
| 8 | 03/11 | Pitch Presentation 1 | 03/13 | Pitch Presentation 2 | 03/14 | Open Lab | – |
| 03/17–03/21 | Spring Break (no classes) | ||||||
| 9 | 03/25 | Filtering 2: localization bayes filter, histogram filter, beliefs, intro to particle filter slides, video | 03/27 | Filtering 3: kalman filter, localization particle filter, importance sampling slides, video | 03/28 | Open Lab | – |
| 10 | 04/01 | Planning: graph search, uniform cost search slides, video | 04/03 | Planning 2: A*, optimal search, cost-to-go heuristics slides, video | 04/04 | MP3 Demo (MP3 due) | – |
| 11 | 04/08 | Planning 3: PRM, robustness, probabilistic completeness slides, video | 04/10 | Planning 4: RRT, RRG, suboptimality slides, video | 04/11 | No more labs! | – |
| 12 | 04/15 | Planning 5 slides | 04/17 | 04/18 | Intermediate check-in | – | |
| 13 | 04/22 | Review Session | 04/24 | Midterm 2 | 04/25 | – | – |
| 15 | 04/29 | 05/01 | 05/02 | – | – | ||
| 15 | 05/06 | 05/08 | Reading day | 05/09 | Finals begin (see here) | – | |
| 16 | 05/14 | Final Presentations |