### Instructors

[BW] = Prof. Brian Williams

[EF] = Prof. Emilio Frazzoli

[SK] = Sertac Karaman

LEC # | TOPICS | KEY DATES |
---|---|---|

1 | Introduction [BW] | |

2 | Foundations I: state space search [BW] | |

3 | Foundations II: complexity of state space search [BW] | Problem set 1 due |

4 | Foundations III: soundness and completeness of search [SK] | |

5 | Constraints I: constraint programming [BW] | Problem set 2 due |

6 | Constraints II: constraint satisfaction [BW] | |

7 |
Constraints III: conflict-directed back jumping Planning I: activity planning [BW] |
Problem set 3 due |

8 | Planning II: graph plan [BW] | |

9 | Planning III: plan termination and plan execution [BW] | Problem set 4 due |

10 | Model-based reasoning I: propositional logic and satisfiability [BW] | Problem set 5 due |

11 | Encoding planning problems as propositional logic satisfiability [SK] | |

Midterm exam | ||

12 | Model-based reasoning II: diagnosis and mode estimation [BW] | |

13 | Model-based reasoning III: OpSat and conflict-directed A* [BW] | Problem set 6 due |

14 | Global path planning I: informed search [EF] | |

15 | Global path planning II: sampling-based algorithms for motion planning [EF] | Final project part 1 due |

16 | Mathematical programming I [EF] | |

17 | Mathematical programming II: the simplex method [EF] | Problem set 7 due |

18 | Mathematical programming III: (mixed-integer) linear programming for vehicle routing and motion planning [EF] | |

19 | Reasoning in an uncertain world [BW] | Problem set 8 due |

20 | Inferring state in an uncertain world I: introduction to hidden Markov models [EF] | |

21 | Inferring state in an uncertain world II: hidden Markov models, the Baum-Welch algorithm [EF] | Problem set 9 due |

22 | Dynamic programming and machine learning I: Markov decision processes [EF] | |

23 | Dynamic programming and machine learning II: Markov decision processes, policy iteration [EF] |
Problem set 10 due Final project part 2 due |

24 | Game theory I: sequential games [EF] | |

25 | Game theory II: differential games [SK] |