Georgia Tech CS X803-AMR Spring 2026 edition
| Day | Month | Date | Module | Topic | Slides | Quizzes | Projects |
| Tue | Jan | 13 | Introduction | L1_Introduction.pdf | |||
| Thu | Jan | 15 | Swim | Coordinate Transformations (SE(2), SE(3)) | P1a: Underwater Robot State | ||
| Tue | Jan | 20 | Swim | Functions on manifolds, push-forward, Jacobian calculation | |||
| Thu | Jan | 22 | Swim | Motion Models (Kinematics) | |||
| Tue | Jan | 27 | Swim | EKF Basics, Sensor Models: IMU (Bias, Noise), Range Sensors | P1b: Underwater Robot Localization | ||
| Thu | Jan | 29 | Swim | Filtering Foundations: Bayes Filter, Kalman Filter (KF), Extended KF (EKF) | |||
| Tue | Feb | 3 | Swim | Invariant Extended Kalman Filter (IEKF); | |||
| Thu | Feb | 5 | Swim | Basic Trajectory Tracking Control | Quiz 1 | P1 Due on Friday Feb 6 | |
| Tue | Feb | 10 | Walk | Robot Kinematics: Forward and Inverse Kinematics | |||
| Thu | Feb | 12 | Walk | Twists and forward kinematics factor graph | P2: Legged Robot Kinematic Estimation & MPC | ||
| Tue | Feb | 17 | Walk | Product of exponentials and probabilistic road maps | |||
| Thu | Feb | 19 | Walk | Invariant filtering with footholds | |||
| Tue | Feb | 24 | Walk | Friction, statics, and dynamics | |||
| Thu | Feb | 26 | Walk | Model Predictive Control (MPC): Predictive Sampling Methods | |||
| Tue | Mar | 3 | Walk | RNEA and kino-dynamic motion planning | |||
| Thu | Mar | 5 | Drive | Wheeled Mobile Robots: Differential Drive Kinematics & Odometry | Quiz 2 | P2 Due on Friday Mar 6 | |
| Tue | Mar | 10 | Drive | IMU Preintegration & LIDAR Scan Matching | P3: Single Robot Pose SLAM & Maze Exploration | ||
| Thu | Mar | 12 | Drive | Introduction to Factor Graphs & Non-linear Least Squares Optimization | |||
| Tue | Mar | 17 | Drive | Pose Graph SLAM Formulation; Loop Closure Detection | |||
| Thu | Mar | 19 | Drive | Frontier-Based Exploration Algorithms | |||
| Tue | Mar | 24 | Spring Break | ||||
| Thu | Mar | 26 | Spring Break | ||||
| Tue | Mar | 31 | Drive | Data Association Challenges in SLAM (Loop Closures, Multi-Robot) | |||
| Thu | Apr | 2 | Drive | Multi-Robot Systems: Architectures & Basic Coordination Planning | Quiz 3 | P3 Due on Friday Apr 13 | |
| Tue | Apr | 7 | Fly | 3D Point Cloud Registration (ICP): Variants (Point-to-Plane) | P4: LiDAR-Inertial Odometry (LIO) | ||
| Thu | Apr | 9 | Fly | Integrating IMU Preintegration Factors into Pose SLAM | |||
| Tue | Apr | 14 | Fly | iSAM: Incremental Smoothing and Mapping | |||
| Thu | Apr | 16 | Fly | Tightly-Coupled LIO Formulation using iSAM | |||
| Tue | Apr | 21 | Fly | Continuous-Time SLAM (CT-SLAM) Concepts | |||
| Thu | Apr | 23 | Fly | Motion Distortion & LiDAR Scan Deskewing Techniques | Quiz 4 | P4 Due on Friday Apr 24 | |
| Tue | Apr | 28 | Fly | TBD | |||