CS198-097 | Robot Autonomous Racing Decal

Fall 2021

Instructor: Star Li, Nathan Oh, Rui Chen, Gary Yang

Mode of Instruction: Async pre-recorded lectures with remote office hours

(Note: please ignore the lecture time on DeCal website, which is just a placeholder)

BARC car
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Syllabus

Note: this is not a finalized version of the syllabus.

W Date Lecture Topic Homework Description
0 08/25 - 09/04 (Open) ROAR DeCal Virtual Info Session
(Open) ROAR Simulator Installation Guide 		N/A
  • Introduction to the DeCal, content overview, enrollment issues
  • and system setup requirements.
1 09/05 - 09/11 Introduction: Autonomous Driving and ROAR Program Overview checkpoint
  • Intro to modern development & theory of autonomous driving and the motivations behind creating the ROAR project at Berkeley. More specific dive-in into the ROAR simulation platform we will be working with.
2 09/12 - 09/18 Computer Vision: obstacle detection & occupancy grid map Not released yet
  • Introduction to sensors on ROAR platform, algorithms for obstacle detection, and occupancy grid map generation.
3 09/19 - 09/25 Planning: basic global planning algorithms Not released yet
  • Introduction to basic path planning algorithms (Dijkstra, A*) and their applications in getting better waypoints.
4 09/26 - 10/02 Planning: local planner Not released yet
  • Second lecture in planning, talk about basic local planner which helps with obstacle avoidance.
5 10/03 - 10/09 Control: PID controller Not released yet
  • Control theory & basic PID controller for waypoint following
6 10/12 - 10/16 Control: more advanced controller Not released yet
  • Based on what we learnt from PID, understand how other controllers work.
7 10/17 - 10/23 Putting modules together Not released yet
  • Announcements on the final competition
  • Learn to put different modules together for a autonomous racing agent
8 10/24 - 10/30 Special Topic: Lane mark detection TBD
  • Special topic on interesting, advanced topics
9 10-31 - 11/06 Special Topic: Reinforcement Learning TBD
  • Special topic on interesting, advanced topics
10 11/07 - 11/13 Lab Session Identify and implement L2 Planning
  • Modify and improve hardware and software design.
11 11/14 - 11/20 Lab Session Identify and implement L2 Planning
  • Modify and improve hardware and software design.

Calendar


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