16.410/16.413 Principles of Autonomy and Decision Making

Fall, 2004

Instructors: Brian Williams & Nick Roy

Monday and Wednesday

9:00am-10:30am 16.413

10:30am-12:00pm 16.410

Room: 33-418

 

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Some problem sets will be on the online tutorial. To register, please click here.

Here is a link to the MIT Scheme web site.

 

Date
Lecture
Tentative Reading (see lectures)

W Sept 8

Introduction to Autonomy (BW/NR)

AIMA Chapters 1 & 2
 

Part I: Foundations: Problem Solving As State Space Search

  

M Sept 13

Introduction to Scheme (NR)

2 handouts on course website

W Sept 15

Problem Solving and Uninformed Search (BW)

AIMA Chapter 3

M Sept 20

Implementing Uninformed Search with Scheme (NR)
scheme-notes2.scm

AIMA Chapter 3 (cont.)

W Sept 22

Analysis of Uninformed Search (BW)

AIMA Chapter 3 (cont.)
 

Part II: Mobile Systems

  
  Global Path Planning  

M Sept 27

Informed Search of Roadmaps (NR)

AIMA Chapter 25.4

W Sept 29

Creating Roadmaps (NR)

AIMA Chapters 4.1-2 and 25.4
  Dynamic Trajectory Planning  

M Oct 4

Linear Programs & Receding Horizon Control (NR)

(Assignment 4, Linear Programs Extra Notes)

IOR Chapter 3 and handout

W Oct 6

Solving Linear Programs Through Simplex (NR)

IOR Chapters 4 and 5

M Oct 11

COLUMBUS DAY HOLIDAY

 
  Visual Interpretation  

W Oct 13

Constraint Programming and Arc Consistency (BW)

AIMA Chapter 5

M Oct 18

Solving Constraint Programs Through Inference and Search (BW)

AIMA Chapter 5 (cont.)

W Oct 20

Solving Constraint Programs Through Inference and Search (BW) (cont.)

Problem Set 6, Sample Midterm

 
 

Part III: Autonomous Operations

  

 

Activity Planning



M Oct 25

Planning Operators and Plan Graphs (BW)

Sample Midterm Solutions

AIMA Chapter 11

W Oct 27

Planning Operators and Plan Graphs (cont.)

Fall 2003 Lecture Notes

AIMA Chapter 11 (cont.)
M Nov 1

MID-TERM

 
 

Part IV: Interpreting Observations (for Mobility and Operations)

  
  Robot Localization  

W Nov 3

Probability & Statistics (NR)

Assignment 7

AIMA Chapter 13

M Nov 8

Utility-based Agents and Markov processes (BW)

AIMA Chapters 17.1-3 and 21

  Diagnosis  

W Nov 10

Probabilistic State Estimation (NR)

AIMA Chapter 15 (selections)

M Nov 15

Integer Programming and Branch and Bound (BW)

Assignment 8

IOR Chapter 13

W Nov 17

Integer Programming (cont.)

AIMA Chapter 6

M Nov 22

Propositional Satisfiability (BW)

Assignment 9

AIMA Chapter 6

 

 

Part V: Agents that Act Optimally

W Nov 24

Model-based Diagnosis as Conflict-directed Search (BW)

Handout

THANKSGIVING HOLIDAY

  
 

Part VI: Agents that Learn and Adapt

  

M Nov 29

Learning Theory, Decision Trees, Neural Networks (NR)

Assignment 7 solution, Sample Final Exam

AIMA Ch. 18-20 (selections)

W Dec 1

16.413 Project Presentations (joint 16.410/13 lectures 9-12pm)

Assignment 8 solution


F Dec 3

PS #9 Due, 16.413 Final Project Reports Due

  

M Dec 6

Bayesian Classification, SVMs (NR)

Assignment 9 solution, Sample Final Solutions

Student Handouts

W Dec 8

Final Exam Review (NR)

  

M Dec 13

Final Exam for both 16.410 and 16.413

Room 33-419
9:00am to Noon

 

 

 

  

 

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