Note the lecture materials below are not meant to be course notes, but are only provided as a guide as to what will be presented in lecture. Several images/slides are from Sebastian Thrun's text book page.

Lecture Schedule:

 Tue 9/23         Introduction        1.1-1.3,2.2

 Thr 9/25         Probability Review        

 Tue 9/30         ROV Deployment I        2.3,2.4

 Thr 10/2         Bayes Filters        2.3,2.4

 Tue 10/7         Gaussian Filters         3.1,3.2,3.3,4.3

 Thr 10/9         Robot Motion Models        5.1-5.4

 Tue 10/14         Perception Models        6.1-6.3

 Thr 10/16         Lab Only

 Tue 10/21         EKF Localization        7.1-7.3,7.4

 Thr 10/23         Monte Carlo Localization    8.1-8.3

 Tue 10/28         Occupancy Grid Mapping        9.1-9.4

 Thr 10/30         Midterm Exam - Dr. Clark is away

 Tue 11/4         ROV Deployment II

 Thr 11/6         Paper 1: EKF Localization Application (G3: AK, EG, JP, W), Paper 2: MCL Application (G5: RW, JK, NL)

 Tue 11/11         Holiday: Veteran’s Day

 Thr 11/13         EKF SLAM        10.1,10.2-10.3

 Tue 11/18         Away

 Thr 11/20         Away

 Tue 11/25         ROV Deployment II

 Thr 11/27         Holiday: Thanksgiving

 Tue 12/2         FastSLAM, Paper 3: Occ. Grid Mapping (G1: DN, TK, MS, MB)         13

 Thr 12/4         Paper 4: EKF SLAM Application (G2: JA, AT, CW, DC)m Paper 5: FastSLAM (G4: RM, JRA, ES, D)

 Thr 12/11         Final Exam, Hardcopy Due 1:10pm, Fri 12/12.