Course home page | Syllabus | Schedule/Readings/Notes | Assignments | Piazza Discussions |
Date | Topics | Lecture Notes/Assigned Readings |
Homework/Project Assignments |
Thurs. 8/21 | Course introduction, overview. |
Ch. 1 of text |
Assigned: Homework 1 Due: Thurs., Aug. 28, 11:10:00 |
Tues. 8/26 |
Overview of Challenges Brief History |
Ch. 2 of text |
|
Thurs. 8/28 |
Locomotion: Legged robots Wheeled robots |
Ch. 2.1-2.3 of text |
Assigned: Homework 2 Due: Thurs., Sept. 4, 11:10:00 |
Tues. 9/2 |
Locomotion: Wheeled robots (con't.) Aerial robots
|
(see also lecture slides from last class) Lecture Slides on Aerial Robots (Sept. 2)
Ch. 2.4 |
|
Thurs. 9/4 |
Mobile Robot Kinematics: Representing robot position Kinematic model of fixed standard wheel Kinematic model of steered standard wheel Robot kinematic constraints |
Lecture Slides on Kinematics (Sept. 4)
Ch. 3 |
|
Tues. 9/9 |
Mobile Robot Kinematics (con't.): Mobile robot maneuverability |
(see lecture slides from last class)
Ch. 3 (con't.) |
Assigned: Homework 3  HW 3 Reading list Due: Tues., Sept. 16, 11:10:00 No late labs accepted |
Thurs. 9/11 |
Mobile Robot Kinematics (con't.): Mobile robot maneuverability (con't.) Mobile robot workspace Kinematic motion control
|
(see lecture slides from 9/4)
Ch. 3 (con't.) |
|
Tues. 9/16 |
Instructor on research travel HW-3: Influential Papers Presentations #1 |
||
Thurs. 9/18 |
Instructor on research travel HW-3: Influential Papers Presentations #2 |
||
Tues. 9/23 |
Wrap-up Mobile Robot Kinematics Discuss Player/Stage simulator
Path Planning: |
Ch. 6.1-6.3
Additional reading on metric path planning: |
|
Thurs. 9/25 |
Path Planning (con't.):
Configuration space Meadow maps Voronoi diagrams |
(see slides from Sept. 23) Ch. 6.3 |
Assigned: Homework 4 Due: Thurs., Oct. 2, 11:10:00 |
Tues. 9/30 |
Path Planning (con't.): Grid representations A* planner Visibility graphs Exact cell decomposition Wavefront path planner |
(see slides from Sept. 23) Ch. 6.3
Additional reading on potential fields: | |
Thurs. 10/02 |
Path Planning (con't.): Randomized graph search |
Ch. 6.3 Additional reading on Braitenberg vehicles (for HW 5) |
Assigned: Homework 5 Due: Thurs., Oct. 14, 11:10:00 |
Tues. 10/07 | Potential Fields |
Ch. 6.3 |
|
Thurs. 10/09 |
Instructor on travel to Grace Hopper Conf. Scribbler robots distributed |
Scribblers Getting Started Guide
Calico Myro reference manual for programming Scribbler
(older) CPython Myro reference manual |
|
Tues. 10/14 |
Obstacle Avoidance: Bug 1 Bug 2 Sonar sensor model |
Ch. 6.4
Additional reading on sonar sensor models: |
Assigned: Homework 6 Due: Tues., Oct. 28, 11:10:00 |
Thurs. 10/16 | No class; fall break! | ||
Tues. 10/21 |
Obstacle Avoidance (con't.): Vector Field Histogram Curvature velocity techniques Dynamic window approaches Introduction to Mobile Robot Perception |
(See slides from Oct. 14) Ch. 4 |
|
Thurs. 10/23 | No class; COE Engineering Day | ||
Tues. 10/28 |
Mobile Robot Perception (con't) Classification of sensors Sensor characteristics Survey of mobile robot sensors |
(see slides from Oct. 21) Ch. 4.1 |
Assigned: Homework 7 Due: Tues., Nov. 11, 11:10:00 |
Thurs. 10/30 |
Mobile Robot Perception (con't.) Line extraction from range data |
Lecture Slides (Oct 30)
Ch. 4.1.3, |
|
Tues. 11/04 |
Mobile Robot Perception (con't.) Line extraction from range data (con't.) Using Kinect
|
(see slides from Oct. 30) | |
Thurs. 11/06 |
Combining robot behaviors Navigation and overall architectures |
Lecture Slides (Nov 6) Ch. 6.5 |
|
Tues. 11/11 |
Navigation and overall architectures Multi-Robot Systems |
(see slides from Nov. 6) Additional readings on (1) multi-robot path planning (Parker 2009), (2) multi-robot systems (Parker 2008), distributed via email. |
Assigned: Homework 8 Due: Tues., Nov. 18, 11:10:00 |
Thurs. 11/13 | Multi-Robot Systems (con't.) | (see slides from Nov. 11) | |
Tues. 11/18 |
Brief Overview of Computer Vision Localization and Mapping |
Lecture Slides, vision (Nov 18) Lecture Slides, localization (Nov 18) Ch. 4.2-4.4 Ch. 5 |
Assigned: Homework 9 Due: Tues., Nov. 25, 11:10:00
|
Thurs. 11/20 | Localization and Mapping (con't.) |
Lecture Slides (Nov 20) Ch. 5 |
Assigned: Homework 10 Due: Monday, Dec. 8, 10:00:00 No late homeworks accepted |
Tues. 11/25 | Localization and Mapping (con't.) |
(see slides from Nov 20) Ch. 5 |
|
Thurs. 11/27 | Happy Turkey Day! (no class) | ||
Tues. 12/02 |
Special guest robot visit Course wrap-up |
||
Mon. 12/08 10:15AM - 12:15PM |
Regular Final Exam Time No class, but we will meet for projects |