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 |