Week-by-week schedule

Note: Italicized text indicates planned topics, but subject to change.

Date	Week	Topic	Milestones	Links
March 31 April 2	1	Introduction, state-space dynamics, linearization, continuous and discrete time dynamics	hw 1 out	lec01 pdf
April 7 April 9	2	Intro to optimization, Control Lyapunov Functions, control invariant sets, Control barrier functions, CLF-CBF-QP		lec03 pdf, lec04 pdf
April 14 April 16	3	Guest lecture (Dr. Max Cohen) CBFs in the real-world!, Guest lecture (Dr. Edward Schmerling) Introduction to sequential decision-making		lec05 pdf, Pre-reading for guest lecture: Control barrier functions via reduced-order models, lec06 pdf
April 21 April 23	4	Value function, Bellman equation, value iteration, stochastic DP	hw 1 due; hw 2 out	lec07 pdf
April 28 April 30	5	HJB, HJI, HJ reachability, linear quadratic regulator	Project proposal due	lec09 pdf, lec10 pdf, Pursuit-Evasion, HJ code basics
May 5 May 7	6	LQR (DT), LQR (CT), Tracking LQR		lec11 pdf
May 12 May 14	7	iLQR, Trajectory optimization, model predictive control	hw 2 due hw3 out	lec13 pdf, lec14 pdf
May 19 May 21	8	Guest lecture (Chris Hayner OpenSCvx), Kalman filter		lec16 pdf
May 26 May 28	9	(No lecture; Memorial Day) Kalman filter, technical communication	hw 3 due	lec18 pdf
June 2 June 4	10	Project spotlight presentation Project poster presentation	Due project pitch Due project poster
	Finals	Due final report or website