The purpose of this course will be to educate undergraduate and graduate students on state-of-the-art techniques in autonomous systems from both a theoretical and practical perspective. The key difference in this course and other courses taught in robotics, artificial intelligence, machine learning and control will be that it will eschew a purely practical focus that many of the other courses favor. It will instead teach students to reason about aspects such as safety, and reliability for autonomous systems using tools from control theory, formal methods, automata theory, artificial intelligence, and logic.
The course will have the following objectives:
The course does not have any formal prerequisites. The students are expected to have mathematical maturity of the level of an undergraduate degree in engineering. However, some familiarity with finite state machines and ordinary differential equations, and programming experience will be helpful.
Homework Assignments - 20%
Mid-Semester Examination - 20%
End-Semester Examination - 20%
Project - 40%
Our department follows this anti-cheating policy strictly.
Homework
Homework 1 (Deadline: February 14)
Homework 2 (Deadline: March 14)
Homework 3 (Deadline: April 11)
Homework 4 (Deadline: May 2)
Project
Project Proposal Submission (Deadline: February 2)
Final Project Presentation (Will be scheduled April 13, 14, 20, 27, 28)
Final Report Submission (Deadline: May 2)
Mid-Semester Examination
February 26, 2021 (Friday) 8:00 am to 10:00 am Online
Final Examination
May 8, 2021 (Saturday) 4:00 pm to 7:00 pm Online
| Lecture | Date | Topic | Instructor | References |
| 1 | January 13 2021 | Course Introduction | Indranil Saha | - |
| 2 | January 19, 2021 | Modeling Discrete Systems | Indranil Saha | [BK08, Chapter 2,3] |
| 3 | January 20, 2021 | Modeling Discrete Systems | Indranil Saha | [BK08, Chapter 2] |
| - | January 26, 2021 | Holiday - Republic Day | ||
| 4 | January 27, 2021 | Modeling Continuous Systems | Indranil Saha | [LS15, Chapter 2] |
| 5 | February 2, 2021 | Modeling Timed Systems | Indranil Saha | [BK08, Chapter 9] |
| 6 | February 3, 2021 | Modeling Hybrid Systems | Indranil Saha | [LS15, Chapter 4], [Raskin05] |
| 7 | February 9, 2021 | Specification - LTL | Indranil Saha | [BK08, Chapter 5] |
| 8 | February 10, 2021 | LTL Verification | Indranil Saha | [BK08, Chapter 5] |
| 9 | February 16, 2021 | Basics of Motion Planning | Indranil Saha | [Lav06] |
| 10 | February 17, 2021 | Temporal Logic Motion Planning | Indranil Saha | [KGS20] |
| -- | February 23, 2021 | Mid-Semester Examination | ||
| -- | February 24, 2021 | Mid-Semester Examination | ||
| -- | March 2, 2021 | Mid-Semester Recess | ||
| -- | March 3, 2021 | Mid-Semester Recess | ||
| 11 | March 9, 2021 | Linear Control | Jyotirmoy Deshmukh | - |
| 12 | March 10, 2021 | Linear Control | Jyotirmoy Deshmukh | - |
| 13 | March 16, 2021 | Nonlinear Control | Jyotirmoy Deshmukh | - |
| 14 | March 17, 2021 | Formal Verification of Dynamical Systems | Jyotirmoy Deshmukh | - |
| 15 | March 23, 2021 | Signal Temporal Logic | Jyotirmoy Deshmukh | - |
| 16 | March 24, 2021 | Model Based Testing and Falsification | Jyotirmoy Deshmukh | - |
| 17 | March 30, 2021 | Probabilistic Models | Jyotirmoy Deshmukh | - |
| 18 | March 31, 2021 | Perception | Jyotirmoy Deshmukh | - |
| 19 | April 6, 2021 | Reinforcement Learning | Jyotirmoy Deshmukh | - |
| 20 | April 7, 2021 | Reinforcement Learning | Jyotirmoy Deshmukh | - |
| 21 | April 13, 2021 | Project Presentations | ||
| 22 | April 14, 2021 | Project Presentations | ||
| 23 | April 20, 2021 | Project Presentations | ||
| - | April 21, 2021 | Holiday - Ram Navami | ||
| 24 | April 27, 2021 | Project Presentations | ||
| 25 | April 28, 2021 | Project Presentations | ||
[Alur15] Rajeev Alur. Principles of Cyber-Physical Systems. The MIT Press, 2015.
[AM09] K. J. Astrom and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Prince- ton University Press, 2009. http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page.
[BK08] C. Baier and J.-P. Katoen. Principles of Model Checking. The MIT Press, 2008.
[CLH+05] H. Choset, K. M Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005.
[LaV06] S. M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
[LS15] Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, http://LeeSeshia.org, ISBN 978-1-312-42740-2, 2015.
[Raskin05] Jean-Francois Raskin. An Introduction to Hybrid Automatag. Handbook of networked and embedded control systems, 491-517, 2005.
[KGS20] Danish Khalidi, Dhaval Gujarathi and Indranil Saha. T*: A Heuristic Search Based Motion Planning Algorithm for Temporal Logic Specifications. ICRA 2020.