Preliminary Schedule and Posted Lectures

MW 11:00 – 12:30 in 33-418

Lecture notes hyperlinked to lecture title on date given.

Problem set hyperlinked to problem set name on date out.

W Sept 4: Introduction to Autonomous Explorers

M Sept 9: Autonomous Large-Scale Mapping

W Sept 11: Immobile Robots and Space Explorers
Problem Set 1 Out, due in class Wednesday, Sept 18

M Sept 16: Partial Order Planning

W Sept 18: Partial Order Plan Execution
Problem Set 1 due in class, Problem Set 2 Out due in class Monday, Oct 7

M Sept 23: Student Holiday

W Sept 25: Plan Graphs

M Sept 30: Graph-based Planning

W Oct 2: Planning as Heuristic Forward Search

M Oct 7: Propositional Logic and Satisfiability
Problem Set 2 due in class

W Oct 9: Model-based Diagnosis and Active Probing
Problem Set 3 Out, due in class Wednesday, Oct 23

M Oct 14: Columbus Day

W Oct 16: Multiple Fault Diagnosis and Conflict-directed A*

M Oct 21: Tracking State: Combining Hidden Markov Models & Logic

W Oct 23:     Decision Theoretic Planning & Markov Decision Processes
                        Problem Set 3 due in class, Problem Set 4 Out
                        Solutions to Problem Set 2 available

M Oct 28: Reinforcement Learning

W Oct 30: Fast SAT and Planning as Propositional Satisfiability
Tips for Oral presentations and Advanced Lecture Materials out, due in class Wed, Nov 13

M Nov 4:      Advanced methods: Student Presentations
                        Temporal Planning with Resource Allocation
                        Stefanie C. Chiou, Robert Kochman, and Gary Look

W Nov 6:     Advanced methods: Student Presentations
                       Market-based Multi-robot Coordination
                       Austin Wang, Gabe Reinstein

M Nov 11:    Veteran's Day Holiday

W Nov 13:    Advanced methods: Student Presentations
                        Robotic Mapping
                        Itamar Kahn, Thomas Lin, and Yuval Mazor
                        Problem Set 4 due in class

W Nov 20: Finite Capacity Scheduling

M Nov 25:    Finite Capacity Scheduling (cont.)
                       Handling Time: Constraint-based Interval Planning
                        Temporal Planning, Scheduling, and Execution

W Nov 27: TBD

M Dec 2: Temporal Plan Execution: Dynamic Scheduling and Simple Temporal Networks
Problem Set 3 Solutions out

W Dec 4:     A Factored Approach to Model-based Reactive Planning in Large State Spaces
                      Kinodynamic Path Planning slides
                      Kinodynamic Path Planning Abstract and References

M Dec 9: Projects: short student presentations
Problem Set 4 Solutions out

W Dec 11: Final project reports due by end of the day