Date: |
Lecture content: |
Assignments and Deadlines: |
January 18 |
Introduction PDF Slides |
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February 1 |
Model-based Control and Architectures for Task Encoding PDF Slides Optional Reading (Dynamics and ODEs): D.W. Jordan, P. Smith, Nonlinear Ordinary Differential Equations, 3rd ed., Oxford University Press. See sections 1.1, 2.3 - 2.5, 10.1. Optional Reading (Case study: Pendulum): B.J. Kuipers, S. Ramamoorthy, Qualitative modeling and heterogeneous control of global system behavior. In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2289, pp. 294-307, Springer Verlag, 2002. Optional Reading (Case study: Juggling): R. R. Burridge, A. A. Rizzi, D. E. Koditschek, Sequential composition of dynamically dexterous robot behaviors, Int. J. Robotics Research, Vol 18, Issue 6, pp. 534 - 555, 1999. Optional Reading (mainly FYI, not needed for lecture): J. Pratt, C.M. Chew, A. Torres, P. Dilworth, G. Pratt, Virtual Model Control: An intuitive approach for bipedal locomotion, Int. J. Robotics Research, Vol 20, Issue 2, pp. 129 - 143, 2001. |
Homework 1 announced: PDF file with questions |
February 8 |
Dynamic Programming and Decision theory PDF Slides |
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February 15 |
Game Theory and Decentralised Decision Making PDF Slides for Part 1: GT PDF Slides for Part 2: MRS Optional Reading (Multirobot systems): M.B. Dias, R. Zlot, N. Kalra, A. Stentz, Market-based multirobot coordination: A survey and analysis. Proc. IEEE 94(7):1257 - 1270, 2006. |
Homework 1 DUE |
February 25 |
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Homework 2 announced: PDF file with instructions |
March 1 |
Probabilistic methods for robotics PDF Slides for Part 1: Bayes filters and exploration PDF Slides for Part 2 (by authors of the paper): Bayesian search case study Reading: L.D. Stone, C.M. Keller, T.M. Kratzke, J.P. Strumpfer, Search for the wreckage of Air France flight AF 447, Statistical Science, Volume 29, Number 1, pp. 69-80, 2014. Optional Reading (Prob. methods): S. Thrun et al., Probabilistic Robotics, MIT Press, 2006. (Ch 2, 17) |
Term paper topics list announced: PDF file |
March 8 |
Worked Examples Session with TA PDF Slides with introduction and questions Solutions to the questions |
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March 15 |
Safety, Security and Privacy: Introducing the Issues PDF Slides for Part 1: Safety PDF Slides for Part 2: Security and Privacy Optional Reading (Safety report example): Waymo's safety report, and ONR's guidance on safety cases |
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March 22 |
Explainability and Behavioural Aspects of Choice PDF Slides for Part 1: Explainability PDF Slides for Part 2: Behavioural Aspects of Human Choice Optional Reading (explainability): Koh, Pang Wei, and Percy Liang. Understanding black-box predictions via influence functions. Proceedings of the 34th International Conference on Machine Learning, 2017. |
Homework 2 DUE |
March 29 |
Safety, Privacy and Explainability: Special topics + Recap and Instructions for Exam PDF Slides for Part 1: Special topics - safety and security Remarks on Exam and Q+A: See Learn |
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April 5 |
Student Presentations on Term Paper |
Term Paper DUE |
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