Date	TOPIC	Assignments
1	Jan. 18	General course overview	Read Chapter 1
2	Jan. 20	BUG Algorithms	Read Chapter 2 Homework 1: Implement the BUG algorithm of your choice - Due 2/1/05
3	Jan. 25	Configuration Space	Read Chapter 3
4	Jan. 27	Geometry and topology of configuration spaces
5	Feb. 1	Quaternions	Read Appendix E
6	Feb. 3	Artificial Potential Fields (I);	Read Chapter 4 Homework 2
7	Feb. 8	No class (makeup date to be arranged).
8	Feb. 10	No class (makeup date to be arranged).
9	Feb. 15	Numerical navigation functions
10	Feb. 17	Continuous navigation functions
11	Feb. 22	Roadmap algorithms, the visibility graph	Read Chapter 5
12	Feb. 24	Collision tests for polygons in the plane, configuration space obstacles for Q = R^2	Homework 3: Implement a visibility graph planner for a polygonal robot translating in the plane among polygonal obstacles - Due Mar. 8
13	Mar. 1	Retracts, deformation retracts, the Voronoi diagram, the generalized Voronoi diagram for Q = R^2
14	Mar. 3	The generalized Voronoi diagram in R^n, the generalized Voronoi graph, Canny's Silhouette method
15	Mar. 8	Sampling-based methods: PRM	Read Section 7.1
16	Mar 10.	Analysis of PRMs	Read Section 7.4   Homework 4
17	Mar. 15	Analysis of PRMs (measure-theoretic approach), Gaussian sampling, obstacle-based sampling
18	Mar. 17	Manipulability-based sampling
19	Mar. 29	Visibility PRM, Rapidly-exploring Random Trees (RRTs), Expansive-Space Trees (ESTs)	Read chapter 5 of Steve LaValle's book
20	Mar. 31	Deterministic sampling, dispersion, discrepancy
21	Apr. 5	Linear observers	Read Chapter 8
22	Apr. 7	Exam1;	Coverage for Exam 1
23	Apr. 12	Probability Theory review, MLE, MMSE
24	Apr. 14	The Kalman filter
25	Apr. 19
26	Apr. 21
27	Apr. 26	SLAM using the Kalman filter
28	Apr. 28	Bayesian localization	Read Section 9.1
29	May 3	Bayesian mapping	Read Section 9.2
	May 9	Exam 2, 1:30pm	Coverage for Exam 2