|
Course Schedule (Preliminary)
|
|||||
| Date | Topic | Readings | Level of difficulty | Instructor | Due Dates |
| Wed., Sept. 4 | Localization Introduction, Overview, and Probabilistic state estimation | Gordon and Thrun | |||
| Mon., Sept. 9 | Localization Particle filters and application to Monte Carlo localization | * | Thrun | ||
| Wed., Sept. 11 | Localization 10 Problems with the Theory | ** | Thrun | ||
| Mon., Sept. 16 | Localization Kalman filter localization | Two papers on Kalman filters by Maybeck and Welch/Bishop | ** | Gordon | |
| Wed., Sept. 18 | (instructors are gone) | ||||
| Mon., Sept. 23 | Decision Making Motion Planning under Uncertainty: Dynamic Programming (also the tail end of Kalman filters) | Kaelbling et al, background on MDPs | * | Gordon | |
| Wed., Sept. 25 | Mapping Mapping with Extended Kalman filters | paper on SLAM mapping and book chapter on SLAM | ** | Thrun | Warm-Up Assignment |
| Mon., Sept. 30 | Mapping Advanced Techniques for Linerization (moment matching, unscented filters, ...) | The Unscented Kalman Filter for Nonlinear Estimation, Expectation Propagation for approximate Bayesian inference | *** | Gordon | |
| Wed., Oct. 2 | Mapping Mapping with Particle Filters: FastSLAM | Paper on FastSLAM | ** | Thrun | Project Proposals |
| Mon., Oct. 7 | Mapping FastSLAM in Dynamic Environments | ** | Montemerlo | ||
| Wed., Oct. 9 | (instructors are gone) | ||||
| Mon., Oct. 14 | Project Proposal Presentations | Gordon and Thrun | |||
| Wed., Oct. 16 | Mapping Graphical models and efficient inference | Huang and Darwiche | **** | Gordon | |
| Mon., Oct. 21 | Mapping, one last time Due to popular demand: Sparse Extended Information Filters | paper on SEIFs | **** | Thrun | |
| Wed., Oct. 23 | Decision Making Planning on Beliefs: Coastal Navigation and Augmented State Spaces | ** | Thrun | ||
| Mon., Oct. 28 | Decision Making Planning on Beliefs: Belief Space Transformations | Two supplementary (non-required) readings: Belief compression and planning with compressed beliefs | ** | Gordon | Written Assignment 1 |
| Wed., Oct. 30 | Decision Making Planning on Beliefs Gone Crazy: The Full Partially Observable Markov Decision Process Model | POMDP paper | ******** | Thrun | |
| Mon., Nov. 4 | Multi-Agent Decision Making Robot Exploration (one and more robots) | * | Thrun | ||
| Wed., Nov. 6 | Multi-Agent Decision Making Cooperative Motion Planning in Dynamic Environments | ** | Gordon | ||
| Mon., Nov. 11 | Multi-Agent Decision Making Multi-Agent Coordination: Open Problems | Thrun | |||
| Wed., Nov. 13 | Advanced Perception 3D Mapping, an Example of Expectation Maximization (EM) | 3D Mapping Paper | ** | Thrun | |
| Mon., Nov. 18 | Advanced Perception EM and Data Association | EM with MCMC | *** | Thrun | |
| Wed., Nov. 20 | Advanced Perception More than You Ever Wanted To Knwo About EM | **** | Gordon | ||
| Mon., Nov. 25 | Advanced Perception EM and Data Association | **** | Thrun | Project Reports | |
| Mon., Dec. 2 | Project Presentations (1) | Gordon and Thrun | |||
| Wed., Dec. 4 | Project Presentations (2) and Wrap-Up | Gordon and Thrun | |||