Lecture 
Topic 
Readings 
Optional/Additional Readings 
Th Aug 25 
Course Introduction 


Tu Aug 30 
Probability Review, Bayes Filters 
Intro: PR 1; Probability Review and Bayes Filters: PR 2 

Th Sep 1 
Motion Models, Beam Sensor Models, Particle Filters and Localization 
Motion Models: PR 5.1, 5.2, 5.3; Beam Sensor: PR 6.1, 6.2, 6.3; Particle Filters: PR 4; Localization: PR 8.1, 8.3 

Tu Sep 6 
Particle Filters++ 
Particle Filters: PR 4 
Doucet, Godsill, Andrieu, 1998,
Arulampalam et al., 2002 
Th Sep 8 
Mapping with Known Poses 
Mapping with Known Poses: PR 9 

Tu Sep 13 
Mapping with Known Poses, RaoBlackwellized Particle Filters 

Doucet, de Freitas, Murphy, Russell 
Th Sep 15 
gMapping, Scan Matching 
Grisetti, Stachniss, Burgard TRO 2006 

Tu Sep 20 
Multivariate Gaussians 
PR 3 

Th Sep 22 
Kalman Filtering 
PR 3 
From Gauss to Kalman 
Tu Sep 27 
EKF, UKF 
PR 3 
Julier and Uhlmann, the UKF 
Th Sep 29 
Smoother, MAP 


Tu Oct 4 
Maximum Likelihood, EM 


Th Oct 6 
SEIF, EnKF, EKFSLAM, FastSLAM, GraphSLAM (, SE(3)) 


Tu Oct 11 
MDP's, Value Iteration 
Sutton and Barto, Reinforcement Learning, Chapters 3 and 4


Th Oct 13 
Discretization of Continuous State Space MDP's 

Moore and Atkeson, 1993,
Munos and Moore, MLJ 2001,
Chow and Tsitsiklis, 1991,
Gordon, 1995,
Tsitsiklis and Van Roy, 1996,
Kushner and Dupuis, 1992/2001,

Tu Oct 18 
Autonomous Driving  IROS Lecture by Thrun and Urmson 


Th Oct 20 
LQR, iterative LQR / Differential Dynamic Programming 


Tu Oct 25 
No Lecture 


Th Oct 27 
No Lecture 


Tu Nov 1 
Unconstrained Nonlinear Optimization, Constrained Nonlinear Optimization, Convex Optimization Problems 

Boyd and Vandenberghe, Chapters 9 11 
Th Nov 3 
Unconstrained Nonlinear Optimization, Constrained Nonlinear Optimization, Convex Optimization Problems (These are same set of slides as linked to in previous lecture.) 
cvx_example.m 
Boyd and Vandenberghe, Chapters 9 11 
Tu Nov 8 
Locally Optimal Control through Nonlinear Optimization: Shooting Methods, Collocation Methods, Model Predictive Control (MPC); POMDPs 
code examples 

Th Nov 10 
Motion Planning: PRM, RRT + variants 
Steven M. Lavalle, Motion Planning, Chapters 5, 14, code example 

Tu Nov 15 
Motion Planning: A* + variants, Likhachev slides 
Steven M. Lavalle, Motion Planning, Chapters 5, 14 
Videos:
Urban Challenge Parking,
Quadruped,
Mobile Manipulation;
Papers:
Likhachev, Gordon, Thrun, ARA*: Anytime A* with Provable Bounds on SubOptimality,
van den Berg, Shah, Huang, Goldberg, Anytime Nonparametric A*,
Koenig, Likhachev, Furcy, Lifelong Planning A*

Th Nov 17 
Object Instance Retrieval/Detection
 
To learn (much much) more, take CS280 next semester. 
Tu Nov 22 
Grasp Quality Metrics, Optimizing Grasp Quality 
Murray, Li, Sastry Chapter 5 

Th Nov 24 
Happy Thanksgiving! 


Tu Nov 29 
Personal Robotics. Guest Lecture by Steve Cousins, CEO Willow Garage 
abstract 

Th Dec 1 
Case Study: Autonomous Helicopter 
Tu Dec 6 
Project Presentations 36pm, 310 Soda 
Th Dec 8 
Project Presentations 25pm, 310 Soda 