This is an archived course. A more recent version may be available at ocw.mit.edu.

Archived Versions

Lecture Notes

All notes are courtesy of the sources named and used with permission. Brian Williams' lectures will be noted with (BW), Paul Robertson's with (PR), Nick Roy's with (NR), and Charles Leiserson's with (CL).

Lec # Topics Lecture notes
1 Principles of Autonomy and Decision Making - BW (PDF)
2 A Very Brief Introduction to Java® - PR (PDF)
3 Formulating Problem Solving as State Space Search - BW

Optional Lecture: More Fun with Java® - PR
(PDF 1 - 1.2 MB) (PDF 2)
4 Problem Solving with Java® - PR (PDF)
5 Asymptotic Analysis of Uninformed Search Methods - BW (PDF - 1.0 MB)
6 Global Path-Planning via Optimal Search and Shortest Paths - BW (PDF)
7 Roadmaps and Adversarial Games - BW (PDF)
8 Solving Linear Programs using Simplex - PR (PDF)
9 Kinodymanic Path-Planning using Linear Programs - PR (PDF)
10 Formulating Visual Interpretation using Constraint Programming - BW (PDF)
11 Solving Constraint Programs using Inference and Search - BW (PDF)
12 Activity Planning and Plan Graphs - BW (PDF)
13 Plan Extraction in Graph Plan - BW (PDF)
14 Planning and Execution in a Changing World - BW (PDF)
15 Modelling using Propositional Logic - BW (PDF)
16 Propositional Satisfiability - BW (PDF)
17 Entailment and Inference in Propositional Logic - BW (PDF)
18 Model-Based Diagnosis and Conflict-directed Search - BW (PDF)
19 Introduction to Probabilistic Reasoning - BW (PDF)
20 Probabilistic State Estimation and Robot Localization - PR, BW (PDF 1) (PDF 2)
21 Formulating Utility-based Agents using Markov Decision Processes - CL, BW (PDF 1) (PDF 2)
22 16.413 Student Project Presentations  
23 Learning from Observations through Inductive Methods - NR (PDF)
24 Learning from Observations through Statistical Methods - NR (PDF)
25 Making Decisions through Finite Domain Constraint Optimization  
26 Final Exam Review (PDF 1) (PDF 2 - 2.5 MB)