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DateDayLecture Lecture TopicTutorialAssignments OutAssignments Due
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Module A: Introduction to ROS, F110 & the Simulator
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1/11W1Introduction to Autonomous Driving: Perception, Planning Control [Slides] [Video]T1: Intro to ROS 2 [Slides] [Video]Lab 1: ROS 2 (individual)
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1/18W2Automatic Emergency Braking [Slides] [Video]T2: Intro to F1Tenth Sim [Repo][Video]Lab 2: Automatic Emergency BrakingLab 1
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1/23M3Rigid Body Transforms [Slides] [Video]T3: ROS2 and tf2 [Slides]
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Module B: Reactive Methods
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1/25W4PID for Wall Following [Slides] [Video]T4: Getting to know the car, odom tuning, battery safety, running containers on the car, remote desktop, network setup [Slides]Lab 3: Wall Following
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1/30M5Vehicle States and Vehicle Dynamics [Slides] [Video]T4 continued, cars hands onLab 2
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2/1W6Follow the Gap: Obstacle Avoidance [Slides] [Video]T4 continuedLab 4: Follow the Gap
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Module C: Mapping & Localization
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2/6M7Filtering [Slides] [Video]Race Preparation Office Hours (OH)Lab 3
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2/8W8Localization: Particle Filter [Slides] [Video]Race Preparation Office Hours (OH)
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2/13M9Scan matching [Slides] [Video]Race Preparation Office Hours (OH)
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2/15W10Race 1: Reactive RacingLab 4
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2/20M11Introduction to Graph-based SLAM [Slides] [Video]T5: Running slam_toolbox and pf [Slides]Lab 5: SLAM & Pure Pursuit
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Module D: Planning & Control
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2/22W12Pure Pursuit [Slides] [Video]
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2/27M13Local Planning: RRT, Spline Based Planner [Slides] [Video]OHLab 6: Motion Planning
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3/1W14Multi-Agent RacingLab 5
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Spring Break
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3/13M15Path Tracking: Model Predictive Control [Slides] [Video]OH
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Module E: Vision
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3/15W16Classical Perception [Slides] [Video]Lab 7: MPC
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3/20M17Machine Learning Perception [Slides] [Video]OHDebate: Ethics for AVsLab 6
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3/22W18Final Project Overviews [Slides]Race PrepLab 8: Perception & Vision
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3/27M20Final Project Discussions Lab 7
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3/29W19Race 2: Racing with map
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4/3M21Ethics [Slides]Debate (before lecture) + Final Project Proposal
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Module F: Special Topics
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4/5W22Raceline Optimization [Slides] Final ProjectLab 8
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4/10M23Reinforcement Learning and Imitation Learning [RL slides, IL slides]Final Project
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4/12W24Special Topic 1: Efficient 3D Perception and BEV Fusion Zhijian LiuFinal Project
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4/17M25Single vehicle - Hot Lap practiceFinal Project
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4/19WRace Prep - 2-vehicle head-to-head practiceFinal Project
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Module G: F1TENTH Grand Prix!!
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4/24M26Final Race Day
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4/26W27AV4EV Autonomous Electric Go-Kart Project in Pennovation [Slides]
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5/8M28Project DemosFinal Project Demo
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5/9T29Final Project Documentation Submission DeadlineProject report submission
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Note: Demos and Final project dates are firm. No extensions.
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