The following is a **very** tentative schedule.

Lecture | Topic |

1 | Introduction, Project I discussion and assignment, Lie groups |

2-3 | Lie groups (cont.), geometry, 3-D kinematics |

4 | Simulation and experiment design, overview of resources, control of nonholonomic robots with examples |

5 | Simulation environments and engines, introduction to Stage/Gazebo. |

6-7 | Continuous feedback laws, navigation functions, geometric control |

8 | Geometric control (cont.) with examples using an aerial robot |

9-13 | Motion Planning |

14 | Motion planning in two and three dimensions with examples |

15 | Project I presentations, project II discussion and assignment |

16 | Introduction to filtering and estimation, the Kalman filter |

17 | Parametric filtering: Kalman filter, information form of Kalman filter, extended Kalman filter, unscented Kalman filter with examples |

18-19 | Case study: A tracking system for indoor localization. Sensor models and considerations.
Pragmatics of using odometry, laser, and camera data. |

20 | Non-parametric filtering and particle filters with examples |

21-22 | Simultaneous localization and mapping, EKF SLAM and FastSLAM with examples |

23-24 | Sampling based motion planning |

25 | A*-based time-constrained planning |

26 | planning in dynamic environments |

27-28 | Distributed robotics, multi-agent formation control and manipulation |

29 | planning under uncertainty |

30 | learning to plan and control |

31-32 | Project presentations |