CS659: Autonomous Cyber-Physical Systems

Winter 2021 (January 13, 2021 - April 30, 2021)
Lecture Hours: Tuesday and Wednesday 12 noon to 1:15 pm

Online Modes:
Lectures: https://zoom.us/
Lectures will be uploaded to https://hello.iitk.ac.in
Assignment submission and Grading: https://www.gradescope.com/

Instructors:
Jyotirmoy Deshmukh (Email: jyotirmoy[dot]deshmukh[at]usc[dot]edu)
Indranil Saha (Email: isaha[at]cse[dot]iitk[dot]ac[dot]in)

Teaching Assistants:
Nikhil Kumar Singh (Email: nksingh[at]cse[dot]iitk[dot]ac[dot]in)
Aakash (Email: aakashp[at]cse[dot]iitk[dot]ac[dot]in)


Overview

The purpose of this course will be to educate undergraduate and graduate students on state-of-the-art techniques in autonomous systems from both a theoretical and practical perspective. The key difference in this course and other courses taught in robotics, artificial intelligence, machine learning and control will be that it will eschew a purely practical focus that many of the other courses favor. It will instead teach students to reason about aspects such as safety, and reliability for autonomous systems using tools from control theory, formal methods, automata theory, artificial intelligence, and logic.

The course will have the following objectives:


Prerequisites

The course does not have any formal prerequisites. The students are expected to have mathematical maturity of the level of an undergraduate degree in engineering. However, some familiarity with finite state machines and ordinary differential equations, and programming experience will be helpful.


Grading Policy

Homework Assignments - 20%
Mid-Semester Examination - 20%
End-Semester Examination - 20%
Project - 40%

Our department follows this anti-cheating policy strictly.


Exam Schedule and Deadlines

Homework
Homework 1 (Deadline: February 14)
Homework 2 (Deadline: March 14)
Homework 3 (Deadline: April 11)
Homework 4 (Deadline: May 2)

Project
Project Proposal Submission (Deadline: February 2)
Final Project Presentation (Will be scheduled April 13, 14, 20, 27, 28)
Final Report Submission (Deadline: May 2)

Mid-Semester Examination
February 26, 2021 (Friday) 8:00 am to 10:00 am Online

Final Examination
May 8, 2021 (Saturday) 4:00 pm to 7:00 pm Online


Lecture Schedule

Lecture Date Topic Instructor References
1January 13 2021Course IntroductionIndranil Saha-
2January 19, 2021Modeling Discrete SystemsIndranil Saha[BK08, Chapter 2,3]
3January 20, 2021Modeling Discrete SystemsIndranil Saha[BK08, Chapter 2]
-January 26, 2021Holiday - Republic Day
4January 27, 2021Modeling Continuous Systems Indranil Saha[LS15, Chapter 2]
5February 2, 2021Modeling Timed SystemsIndranil Saha[BK08, Chapter 9]
6February 3, 2021Modeling Hybrid SystemsIndranil Saha[LS15, Chapter 4], [Raskin05]
7February 9, 2021Specification - LTL Indranil Saha[BK08, Chapter 5]
8February 10, 2021LTL VerificationIndranil Saha[BK08, Chapter 5]
9February 16, 2021Basics of Motion PlanningIndranil Saha[Lav06]
10February 17, 2021Temporal Logic Motion PlanningIndranil Saha[KGS20]
--February 23, 2021 Mid-Semester Examination
--February 24, 2021 Mid-Semester Examination
--March 2, 2021 Mid-Semester Recess
--March 3, 2021 Mid-Semester Recess
11March 9, 2021Linear ControlJyotirmoy Deshmukh-
12March 10, 2021Linear ControlJyotirmoy Deshmukh-
13March 16, 2021Nonlinear ControlJyotirmoy Deshmukh-
14March 17, 2021Formal Verification of Dynamical SystemsJyotirmoy Deshmukh-
15March 23, 2021Signal Temporal LogicJyotirmoy Deshmukh-
16March 24, 2021Model Based Testing and FalsificationJyotirmoy Deshmukh-
17March 30, 2021Probabilistic ModelsJyotirmoy Deshmukh-
18March 31, 2021PerceptionJyotirmoy Deshmukh-
19April 6, 2021Reinforcement LearningJyotirmoy Deshmukh-
20April 7, 2021Reinforcement LearningJyotirmoy Deshmukh-
21April 13, 2021Project Presentations
22April 14, 2021Project Presentations
23April 20, 2021Project Presentations
-April 21, 2021Holiday - Ram Navami
24April 27, 2021Project Presentations
25April 28, 2021Project Presentations

References

[Alur15] Rajeev Alur. Principles of Cyber-Physical Systems. The MIT Press, 2015.
[AM09] K. J. Astrom and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Prince- ton University Press, 2009. http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page.
[BK08] C. Baier and J.-P. Katoen. Principles of Model Checking. The MIT Press, 2008.
[CLH+05] H. Choset, K. M Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005.
[LaV06] S. M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
[LS15] Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, http://LeeSeshia.org, ISBN 978-1-312-42740-2, 2015.
[Raskin05] Jean-Francois Raskin. An Introduction to Hybrid Automatag. Handbook of networked and embedded control systems, 491-517, 2005.
[KGS20] Danish Khalidi, Dhaval Gujarathi and Indranil Saha. T*: A Heuristic Search Based Motion Planning Algorithm for Temporal Logic Specifications. ICRA 2020.