1 
Introduction to Principles of Autonomy and Decision Making
Jump Starting With Scheme 
Problem Set 1 OUT 
2 
Some Scheme 

3 
Rulebased Systems 
Problem Set 2 OUT
Problem Set 3 OUT 
4 
Problem Solving as State Space Search 
Problem Set 1 DUE 
5 
Analysis of Uninformed Search Methods
Some More Scheme 

6 
Even More Scheme 
Problem Set 4 OUT
Problem Set 2 DUE
Problem Set 3 DUE 
7 
Constraint Satisfaction Problems: Formulations
Solving Constraint Satisfaction Problems: Arc Consistency and Constraint Propagation 
Problem Set 5 OUT
Problem Set 4 DUE 
8 
Solving Constraint Satisfaction Problems: Forward Checking
Propositional Logic and Satisfiability 

9 
Propositional Logic and Satisfiability (cont.) 

10 
Graphbased Planning 
Problem Set 6 OUT
Problem Set 5 DUE 
11 
Partial Order Planning and Execution 
Problem Set 6 DUE 
12 
Midterm Exam 

13 
Programming SATPlan 
Problem Set 7 OUT 
14 
Roadmap Path Planning
Shortest Path and Informed Search 

15 
Shortest Path and Informed Search (cont.) 
Problem Set 8 OUT
Problem Set 7 DUE 
16 
Modelbased Diagnosis 

17 
Modelbased Diagnosis (new slides) 
Problem Set 9 OUT
Problem Set 8 DUE 
18 
Introduction to Linear Programming 

19 
Spacecraft Rendezvous and Rover Path Planning Using Linear Programs 
Problem Set 10 OUT
Problem Set 9 DUE 
20 
Basis Theory 

21 
Integer Programming and Branch and Bound 
Problem Set 11 OUT
Problem Set 10 DUE
16.413: Scenario Round I 
22 
16.413 Project Group Meetings 

23 
Particle Filters for Fun and Profit 
Problem Set 11 DUE
16.413: Scenario Round II 
24 
Student Presentations 

25 
Learning to Act Optimally: Reinforcement Learning
Planning to Maximize Reward: Markov Decision Processes 
16.413 Reports DUE 
26 
Principles of Autonomy and Decision Making 

27 
Final Exam 
