The course is divided in to four equal sections:
 Planning
 Dynamics and Control
 State Estimation and
 Distributed Algorithms
Lecture  Date  Topic 
1  Jan 15  PLANNING: Introduction, planning via graph searches, methods for cell decomposition and skeletonization of workspaces Attach:introtomotionplanning.pdf 
2  Jan 20  PLANNING: A* search Attach:astar_meam620.pdf 
3  Jan 22  PLANNING: Realtime planning and replanning I (incremental, anytime and agentcentered graph searches) Attach:realtimeplan1_meam620.pdf 
4  Jan 27  PLANNING: Realtime planning and replanning II (incremental, anytime and agentcentered graph searches) Attach:realtimeplan2_meam620.pdf

5  Jan 29  PLANNING: Samplingbased planning (PRM, RRT) Attach:samplingbasedplan_meam620.pdf 
6  Feb 3  PLANNING: Planning under uncertainty I (minimax formulation, minimax A*, MDPs, value iteration, policy iteration, RTDP) Attach:planunderuncertainty1_meam620.pdf 
7  Feb 5  PLANNING: Planning under uncertainty II (POMDPs, incomplete information states, belief statespaces) Attach:planunderuncertainty2_meam620.pdf 
8  Feb 10  DYNAMICS and CONTROL: Rigid body transformations, Representations of SO(3) and SE(3), Lagrangian Formulation Attach:Dynamics_Control_1.pdf

9  Feb 12  DYNAMICS and CONTROL: Lie algebras, Lie bracket, Nonholonomic systems Attach:Dynamics_Control_2.pdf

10  Feb 17  DYNAMICS and CONTROL: Lagrangian formulation for nonholonomic systems, Differential drive robot Attach:Dynamics_Control_3.pdf

11  Feb 19  DYNAMICS and CONTROL: Stability, Lyapunov theory, Controllability Attach:Dynamics_Control_4.pdf 
12  Feb 24  DYNAMICS and CONTROL: Control of a differential drive robot, Path following controllers Attach:Dynamics_Control_5.pdf

13  Feb 26  DYNAMICS and CONTROL: Chained forms, Backstepping algorithms Attach:Dynamics_Control_6.pdf 
14  Mar 3  DYNAMICS and CONTROL: Navigation functions Attach:Dynamics_Control_7.pdf

15  Mar 5  ESTIMATION: Basic Probability Theory and Kalman Filtering, Slides

16  Mar 17  ESTIMATION: Kalman Filter and the Extended Kalman Filter, Adaptive Filtering, Slides 
17  Mar 19  ESTIMATION: Unscented Kalman Filter, Adaptive UKF, Monte Carlo Sampling, Particle Filters 
18  Mar 24  ESTIMATION: Robot motion models, Sensor models, MultiHypotheses tracking, Project Description 
19  Mar 26  ESTIMATION 
20  Mar 31  ESTIMATION Project Details Project Map 
21  Apr 2  DISTRIBUTED ALGORITHMS: Hybrid Systems, Graph Theory

22  Apr 7  DISTRIBUTED ALGORITHMS: Minimum Spanning Tree Algorithm, Algebraic Graph Theory and Applications

23  Apr 9  DISTRIBUTED ALGORITHMS: Networked Systems, Distributed vs. Centralized Control, Consensus Algorithm

24  Apr 14  DISTRIBUTED ALGORITHMS: Consensus Algorithm (cont'd), MultiAgent Flocking

25  Apr 16  DISTRIBUTED ALGORITHMS: Auction Algorithm for the Assignment Problem

26  Apr 23  DISTRIBUTED ALGORITHMS: Distributed Connectivity Control

27  May 6  Final project presentations

28  May 8  Final project presentations 