Schedule

Event

Date

Description

Course Material
Lecture

01/22/2024
Monday

Introduction to Autonomous Driving: Perception, Planning Control
[slides]

Suggested Readings: Tutorial 1: Intorduction to ROS2.
Assignment

01/22/2024
Monday

Lab 1: ROS 2 (Individual) released!

[Lab 1: ROS 2 (Individual)]
Lecture

01/24/2024
Wednesday

Automatic Emergency Braking
[slides]

Suggested Readings: Tutorial 2: Intorduction to the F1tenth Simulator.
Assignment

01/24/2024
Wednesday

Lab 2: Automatic Emergency Braking released!

[Lab 2: Automatic Emergency Braking]
Lecture

01/29/2024
Monday

Rigid Body Transformations
[slides]

Suggested Readings: Tutorial 3: ROS2 and TF2.
Due

01/29/2024 23:59
Monday

Lab 1 Due
Lecture

01/31/2024
Wednesday

PID for Wall Following
[slides]

Suggested Readings: Tutorial 4: Getting to know the car, odom tuning, battery safety, running containers on the car, remote desktop, network setup
Assignment

01/31/2024
Wednesday

Lab 3: Wall Following released!

[Lab 3: Wall Following]
Lecture

02/05/2024
Monday

Vehicle States, Dynamics, and Simulation
[slides]

Suggested Readings: Tutorial 4: Getting to know the car, odom tuning, battery safety, running containers on the car, remote desktop, network setup
Due

02/05/2024 23:59
Monday

Lab 2 Due
Assignment

02/07/2024
Wednesday

Lab 4: Follow the Gap released!

[Lab 4: Follow the Gap]
Lecture

02/07/2024
Wednesday

Follow the Gap: Obstacle Avoidance
[slides]

Suggested Readings: Tutorial 4: Getting to know the car, odom tuning, battery safety, running containers on the car, remote desktop, network setup
Lecture

02/12/2024
Monday

Filtering
[slides]
Due

02/12/2024 23:59
Monday

Lab 3 Due
Lecture

02/14/2024
Wednesday

Localization: Particle Filter
[slides]
Race

02/21/2024 17:00
Wednesday

Race 1: Reactive Racing
Topics:
1. Follow the Gap
2. PID Wall Following
3. Vehicle State and Dynamics
4. Rigid Body Transforms
5. Automatic Emergency Braking
Due

02/21/2024 23:59
Wednesday

Lab 4 Due
Lecture

02/26/2024
Monday

Introduction to Graph-based SLAM
[slides]

Suggested Readings: Tutorial 5: Running slam_toolbox and pf
Assignment

02/26/2024
Monday

Lab 5: SLAM & Pure Pursuit released!

[Lab 5: SLAM & Pure Pursuit]
Lecture

02/28/2024
Wednesday

Pure Pursuit
[slides]
Lecture

03/11/2024
Monday

Local Planning: RRT, Spline Based Planner
[slides]
Assignment

03/11/2024
Monday

Lab 6: Motion Planning released!

[Lab 6: Motion Planning]
Lecture

03/13/2024
Wednesday

Optimization & Control I: Optimization Basics and LQR
[slides]
Due

03/13/2024 23:59
Wednesday

Lab 5 Due
Lecture

03/18/2024
Monday

Optimization & Control II: Optimization Basics and LQR
[slides]
Assignment

03/18/2024
Monday

Lab 7: MPC released!

[Lab 7: MPC]
Lecture

03/20/2024
Wednesday

Classical Perception
[slides]
Assignment

03/20/2024
Wednesday

Lab 8: Perception & Vision released!

[Lab 8: Perception & Vision]
Lecture

03/25/2024
Monday

Final Project Overviews
[slides]
Lecture

03/25/2024
Monday

Final Project Overviews
[slides]
Lecture

03/25/2024
Monday

Introduction to Autonomous Driving: Perception, Planning Control
[slides]
Due

03/25/2024 23:59
Monday

Lab 6 Due
Due

04/01/2024 23:59
Monday

Lab 7 Due
Race

04/03/2024 17:00
Wednesday

Race 2: Racing with a Map
Topics:
1. Path Planning
2. Mapping and Localization
3. Pure Pursuit
4. MPC Path Tracking
Lecture

04/08/2024
Monday

Ethics
[slides]

Suggested Readings: Tutorial 6: Foxglove visualization for the F1tenth
Assignment

04/08/2024
Monday

Debate: Ethics released!

[Debate: Ethics]
Due

04/08/2024 13:30
Monday

In-Class Debate: Ethics
Lecture

04/10/2024
Wednesday

Raceline Optimization
[slides]
Due

04/10/2024 23:59
Wednesday

Lab 8 Due
Lecture

04/12/2024
Friday

TBA
[slides]

Suggested Readings: TBA
Lecture

04/15/2024
Monday

Reinforcement Learning and Imitation Learning
[slides]

Suggested Readings: Tutorial 7: Implementing RL on the F1tenth
Lecture

04/19/2024
Friday

Race 1 Preparation
Lecture

04/19/2024
Friday

Race 3 Preparation
Lecture

04/26/2024
Friday

TBA
[slides]

Suggested Readings: TBA
Race

04/29/2024 17:00
Monday

Race 3: Final Race
Topics:
1. All topics covered
Lecture

05/01/2024
Wednesday

AV4EV Autonomous Electric Go-Kart Project in Pennovation
[slides]