This schedule is preliminary and subject to change as the term evolves.
Week | Date | Lecture | Notes | Instructor |
1 | Aug. 27 |
Introduction (slides) |
Wennie Tabib | |
Aug. 29 |
Mathematical Preliminaries (slides) |
Wennie Tabib | ||
2 | Sept. 3 |
Quadrotor Modeling (slides) |
Assignment 1 Released | Wennie Tabib |
Sept. 5 |
Quadrotor Control I |
Wennie Tabib | ||
3 | Sept. 10 |
Quadrotor Control II |
Wennie Tabib | |
Sept. 12 |
Trajectory-based Control |
Wennie Tabib | ||
4 | Sept. 17 |
Introduction to Mapping & Localization |
Wennie Tabib | |
Sept. 19 |
Bayes Filter |
Assignment 1 Due, Assignment 2 Released | Wennie Tabib | |
5 | Sept. 24 |
Occupancy Grid Maps |
Wennie Tabib | |
Sept. 26 |
Localization using Bayes Filtering |
Wennie Tabib | ||
6 | Oct. 1 |
Particle Filter, EKF-SLAM |
Wennie Tabib | |
Oct. 3 |
3D Mapping |
Wennie Tabib | ||
7 | Oct. 8 |
Planning Introduction |
Wennie Tabib | |
Oct. 10 |
Quadrotor Planning |
Assignment 2 Due | Wennie Tabib | |
8 | Oct. 15 | No Class | Fall Break | |
Oct. 17 | No Class | Fall Break | ||
9 | Oct. 22 |
Planning Representations |
Assignment 3 Released | Wennie Tabib |
Oct. 24 |
Planning in Known Workspaces |
Select groups for projects | Wennie Tabib | |
10 | Oct. 29 |
Introduction to Robotic Exploration |
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Oct. 31 |
Frontier-based Exploration, Multi-Robot |
Wennie Tabib | ||
11 | Nov. 5 | No Class | Democracy Day | |
Nov. 7 |
Information-Theoretic Robotic Exploration, Multi-Robot |
Assignment 3 Due | Wennie Tabib | |
12 | Nov. 12 |
Local vs. Global Mapping |
Wennie Tabib | |
Nov. 14 |
Project Proposals |
Slides Due | Student Presentations | |
13 | Nov. 19 |
Guest Lecture: TBA |
TBA | |
Nov. 21 |
3D Exploration, Learning-based Exploration |
Wennie Tabib | ||
14 | Nov. 26 |
Guest Lecture: TBA |
TBA | |
Nov. 28 | No Class | Thanksgiving Break | ||
15 | Dec. 3 |
Project Demos I |
Student Presentations | |
Dec. 5 |
Last Day of Class & Project Demos II |
Student Presentations | ||
16 | Dec. 11 | No Class | Project instructions, code, slides due | |
17 | Dec. 18 | Final Grades Due |