1 
Introduction to Principles of Autonomy and Decision Making
Jump Starting With Scheme 
AIMA. Chapters 1 and 2. 
2 
Some Scheme 
"Teach Yourself Scheme in Fixnum Days." (PDF) 
3 
Rulebased Systems 
AIMA. Chapters 9.29.4. 
4 
Problem Solving as State Space Search 
AIMA. Chapter 3. 
5 
Analysis of Uninformed Search Methods
Some More Scheme 
AIMA. Chapter 3. 
6 
Even More Scheme 
"Teach Yourself Scheme in Fixnum Days." (PDF) 
7 
Constraint Satisfaction Problems: Formulations
Solving Constraint Satisfaction Problems: Arc Consistency and Constraint Propagation 
AIMA. Chapters 5 and 24.4 (pp. 881884). 
8 
Solving Constraint Satisfaction Problems: Forward Checking
Propositional Logic and Satisfiability 
AIMA. Chapters 5 and 6. 
9 
Propositional Logic and Satisfiability (cont.) 

10 
Graphbased Planning 
AIMA. Chapter 11. 
11 
Partial Order Planning and Execution 
AIMA. Chapter 12. 
12 
Midterm Exam 

13 
Programming SATPlan 
AIMA. Chapter 7. 
14 
Roadmap Path Planning
Shortest Path and Informed Search 
AIMA. Chapter 25.4.
AIMA. Chapter 4.12.
Introduction to Algorithms, 2nd Edition, by Cormen, Leiserson, Rivest, and Stein. Chapters 25.12. 
15 
Shortest Path and Informed Search (cont.) 

16 
Modelbased Diagnosis 
AIMA. Chapters 4.12 and 25.4. 
17 
Modelbased Diagnosis (new slides) 
AIMA. Chapter 6. 
18 
Introduction to Linear Programming 
Handouts:
AMPL (PDF)
Steel (PDF) 
19 
Spacecraft Rendezvous and Rover Path Planning Using Linear Programs 
Handout:
Linear Programming Example 
20 
Basis Theory 

21 
Integer Programming and Branch and Bound 

22 
16.413 Project Group Meetings 

23 
Particle Filters for Fun and Profit 
AIMA. Chapter 6. 
24 
Student Presentations 

25 
Learning to Act Optimally: Reinforcement Learning
Planning to Maximize Reward: Markov Decision Processes 
AIMA. Chapter 6. 
26 
Principles of Autonomy and Decision Making 

27 
Final Exam 
