| Date | Topic | Assignments |
| Jan 15 | Introduction | S&S Chapter 1 |
| Jan 17 | Matrix Algebra Refresher | Slides S&S Appendix A |
| Jan 22 | Basic Linear Control Theory I | Slides Book Chapter |
| Jan 24 | Actuation and Sensing | Slides |
| Jan 29 | Frequency Domain Analysis Introduction to Matlab |
Slides MATLAB/Simulink Introduction Book Chapter |
| Jan 31 | Basic Linear Control Theory II | Slides Book Chapter |
| Feb 5 | Coordinate Transformations | Slides |
| Feb 7 | Class Cancelled | |
| Feb 12 | Kinematics Case Study I: Stabilization of an Artificial Eye System |
Slides Slides(2) Matlab Animation Simulink model Matlab simulator |
| Feb 14 | Inverse Kinematics | Slides S&S Chapter 2.11, 3.1-3.7 |
| Feb 19 | ROS Tutorial | Slides Homework 1 spring_system.mdl |
| Feb 21 | Lab Tour RTH 423 | |
| Feb 26 | Introduction to Mobile Robotics | Slides Midterm Question Catalog Corrections to midterm catalog |
| March 7 | Dynamics | Slides Slides(2) |
| March 12 | State Estimation | Slides |
| March 14 | SLAM | Slides Homework 2 ArmAnimation.m forward_kinematics.m inverse_kinematics.m kinematic_arm_simulation.mdl |
| March 26 | Optimal Control (MDPs, POMDPs) | Slides |
| March 28 | Optimal Control (MDPs, POMDPs) (cont) | Slides |
| April 2 | Adaptive Methods | Slides |
| April 16 | No Class | Homework3 cartStep.m drawpolicy.m loadMDP.m |
| April 18 | No Class | |
| April 26 | No Class | Midterm 2 Catalogue |