This schedule is preliminary and subject to change as the term evolves.
| Week | Date | Lecture | Notes | Instructor |
| 1 | Aug. 29 |
Introduction (slides) |
Knowledge Survey Form | Wennie Tabib |
| Aug. 31 |
Mathematical Preliminaries (slides) |
Knowledge Survey Due and Assignment 1 Released | Wennie Tabib | |
| 2 | Sept. 5 |
Quadrotor Modeling (slides) |
Wennie Tabib | |
| Sept. 7 |
Quadrotor Control I (slides) |
Wennie Tabib | ||
| 3 | Sept. 12 |
Quadrotor Control II (notes) |
Wennie Tabib | |
| Sept. 14 |
Trajectory-based Control (slides) |
Wennie Tabib | ||
| 4 | Sept. 19 |
Introduction to Mapping & Localization (slides) |
Assignment 1 Due | Kshitij Goel |
| Sept. 21 |
Bayes Filter (slides) |
Assignment 2 Released | Kshitij Goel | |
| 5 | Sept. 26 |
Occupancy Grid Maps (slides, notes) |
Kshitij Goel | |
| Sept. 28 |
Localization using Bayes Filtering (slides) |
Kshitij Goel | ||
| 6 | Oct. 3 |
Particle Filter, EKF-SLAM (slides) |
Wennie Tabib | |
| Oct. 5 |
3D Mapping (slides) |
Wennie Tabib | ||
| 7 | Oct. 10 |
Planning Introduction (slides) |
Assignment 2 Due, Assignment 3 Released | Wennie Tabib |
| Oct. 12 |
Quadrotor Planning (slides) |
Wennie Tabib | ||
| 8 | Oct. 17 | No Class | Fall Break | |
| Oct. 19 | No Class | Fall Break | ||
| 9 | Oct. 24 |
Planning Representations (slides) |
Wennie Tabib | |
| Oct. 26 |
Planning in Known Workspaces (slides) |
Wennie Tabib | ||
| 10 | Oct. 31 |
Project Proposals (info) |
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| Nov. 2 |
Introduction to Robotic Exploration (slides) |
Assignment 3 Due | Kshitij Goel | |
| 11 | Nov. 7 | No Class | Democracy Day Assignment 4 Released | |
| Nov. 9 |
Frontier-based Exploration, Multi-Robot (slides) |
Kshitij Goel | ||
| 12 | Nov. 14 |
Information-Theoretic Robotic Exploration, Multi-Robot (slides) |
Kshitij Goel | |
| Nov. 16 |
Local vs. Global Mapping (slides) |
Kshitij Goel | ||
| 13 | Nov. 21 |
Guest Lecture: Autonomous Exploration, Navigation, and the Autonomy Systems (slides) |
Assignment 4 Due | Ji Zhang |
| Nov. 23 | No Class | Thanksgiving Break | ||
| 14 | Nov. 28 |
3D Exploration, Learning-based Exploration (slides) |
Kshitij Goel | |
| Nov. 30 |
Guest Lecture: TBA (slides) |
David Wettergreen | ||
| 15 | Dec. 5 |
Project Demos I (slides) |
Presentation Instructions | |
| Dec. 7 |
Project Demos II |
Code/Report Instructions |