Principles of Autonomy and Decision Making

Calendar

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]