F1tenth

Francis Galton means business. He wants you to finish that car. He also rocks the sideburns.

You can watch the videos by clicking the lecture title. For practice sessions, see the Practice Sessions tab.

The lecture schedule is subject to change as the term progresses.

Date	Topic	Readings
Week 1	Course overview and logistics Autonomous driving initiatives and the DARPA challenges The autonomous racing car (components, coding, testing and performance measurements) The challenge in seeing and acting fast.	Lecture slides by Madhur Behl
Week 1	Introducing… ROS The Jetson and how to configure it Sensors and their configuration The wireless network Practice session 1 Keyboard controls	Installing ROS by P/N/P Basics of ROS Part 1 by P/N/P Basics of ROS Part 2 by P/N/P Jetson configuration by P/N/P The wireless network by P/N/P Sensor configuration by P/N/P
Week 2	The perception tool chain and controllers Basics of odometry, IMU, and LIDAR PID control and description of tracking problems Algorithmic overview of Vanishing Point, SLAM and RANSAC	Lecture slides by Houssam Abbas The $75,000 problem for self-driving cars is going away by Washington Post
Week 2	Hands-on tutorial on data acquisition Acquiring ROS bags Simulate before (not) driving Code walk-through tutorial Practice session 2 Drive straight and stop.	Video transcripts by P/N/P
Week 3	Driving the car in a loop Motion planning in depth Localization with SLAM Localization with AMCL	Video transcripts by Houssam Abbas and Madhur Behl
Week 3	Code walkthrough tutorial Code walkthrough Focus on the motion planner code Practice Session 3 Add code to drive in a loop	Video transcripts by P/N/P
Week 4	Collision avoidance Avoiding static obstacles	Video transcripts by P/N/P
Week 5	Race Give yourself the edge over others	Video transcripts by P/N/P