| Course home page | Syllabus | Schedule/Readings/Notes | Assignments |
| Date | Topics | Lecture Notes/Assigned Readings |
Homework/Project Assignments | |
| Thurs. 8/18 | Course introduction, overview. |
Assigned reading (handed out in class) on artificial intelligence. |
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| Tues. 8/23 | Overview of Challenges |
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| Thurs. 8/25 |
(Abbreviated) History of Robotics Introduction to Player/Stage robot simulator |
Assigned reading: Siegwart, pgs. 13-56 (on locomotion).
Player/Stage Getting Started Guide (UTK-specific) More Player/Stage Documentation, by Jenny Owen |
Assigned: Mini-Assignment 1 Due: Tues., Sept. 6, 14:10:00 |
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| Tues. 8/30 | Robot Locomotion |
Lecture Slides (Aug. 30) (from textbook authors)
Assigned reading: Siegwart, pgs. 57-77 (on mobile robot kinematics, Part I).
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| Thurs. 9/01 |
Mobile Robot Kinematics Representing robot position Kinematic model of fixed standard wheel Kinematic model of steered standard wheel |
Lecture Slides (Sept. 01) (from textbook authors)
Assigned reading, Siegwart, pgs. 77-99 (on mobile robot kinematics, Part II).
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| Tues. 9/06 |
Mobile Robot Kinematics (con't.)
Robot kinematic constraints Mobile robot maneuverability |
(see slides from Sept. 1)
Assigned reading (handed out in class) on Braitenburg's Vehicles.
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Assigned: Assignment 2 Due: Tues., Sept. 20, 14:10:00 |
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| Thurs. 9/08 |
Mobile Robot Kinematics (con't.)
Mobile robot workspace Kinematic motion control Introduction Mobile Robot Perception |
(see slides from Sept. 1) Lecture Slides (Sept. 08) (from textbook authors) |
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| Tues. 9/13 |
Mobile Robot Perception Classification of sensors Sensor characteristics Survey of mobile robot sensors |
(see slides from Sept. 8) |
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| Thurs. 9/15 |
Mobile Robot Perception (con't.) Uncertainty Line extraction from range data |
(see slide 60 from Sept. 8) Lecture Slides (Sept. 20) (see especially slides 41 to end)
Assigned reading: Siegwart, pgs. 242-263 (on laser line extraction). |
Assigned: Assignment 3 Due: Tues., Oct. 11, 13:00:00 |
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| Tues. 9/20 |
Class subgroup I: Lab in Claxton 105 (hydra), getting started with NAOs Class subgroup II: Lecture in Claxton 205: Using Kinect for human activity recognition (guest lecturer: Hao Zhang) |
Lecture slides on Kinect | Assignment for class subgroup I: NAO Getting Started Guide | |
| Thurs. 9/22 |
Class subgroup I: Lecture in Claxton 205: Using Kinect for human
activity recognition (guest lecturer: Hao Zhang)
Class subgroup II: Lab in Claxton 105 (hydra), getting started with NAOs |
Lecture slides on Kinect | Assignment for class subgroup II: NAO Getting Started Guide | |
| Tues. 9/27 |
Make-up NAO lab (in Claxton 105) for those who didn't finish
last week Others: no class |
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| Thurs. 9/29 | Fall Break. No class. | |||
| Tues. 10/04 |
Path Planning Metric path planning Configuration space Meadow maps Voronoi diagrams |
Assigned reading: Siegwart, pgs. 369-385 (on planning and navigation). |
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| Thurs. 10/06 |
Path Planning (con't.) Grid representations A* planner |
(see slides from Oct. 4) | ||
| Tues. 10/11 |
Path Planning (con't.)
Visibility graphs Exact cell decomposition Wavefront path planner |
Lecture slides (Path planning II, Oct. 11)
* Assigned reading: Siegwart, pgs. 386-409 (more on planning and navigation). * Assigned reading: Murphy, pgs. 123-147 (on potential fields). * Assigned reading: Murphy, pgs. 378-386 (on sonar sensor model). RBD: BOC 10/13/11. |
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| Thurs. 10/13 |
Potential Fields Empirical Evaluation of Robot Systems |
Lecture slides (Potential fields, Oct. 13) | ||
| Tues. 10/18 |
Class subgroup I: Lab in Claxton 205, Random walk with NAOs Class subgroup II: Lecture in Claxton 105 (hydra): Obstacle avoidance (guest lecturer: Tony Zhang) |
Lecture slides (Oct. 18/20) | Assignment for class subgroup I: NAO Lab Assignment #2 | |
| Thurs. 10/20 |
Class subgroup I: Lecture in Claxton 105 (hydra): Obstacle avoidance (guest lecturer: Tony Zhang) Class subgroup II: Lab in Claxton 205, Random walk with NAOs |
Lecture slides (Oct. 18/20) | Assignment for class subgroup II: NAO Lab Assignment #2 | |
| Tues. 10/25 |
Class subgroup I: Lab in Claxton 205, Random walk with NAOs (con't.) Class subgroup II: Lecture in Claxton 105 (hydra), Empirical Evaluation of Robot Systems |
Lecture slides (Empirical eval., con't. from Oct. 13) | ||
| Thurs. 10/27 |
Class subgroup I: Lecture in Claxton 105 (hydra), Empirical Evaluation of Robot Systems Class subgroup II: Lab in Claxton 205, Random walk with NAOs (con't.) |
Lecture slides (Empirical eval., con't. from Oct. 13) | ||
| Tues. 11/01 | Robot Localization |
Lecture slides (Localization I, Nov. 1)
* Assigned reading: Siegwart, pgs. 265-270, 278-284, 296-316 (localization).
RBD: BOC 11/3/11.
RBD: BOC 11/15/11. |
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| Thurs. 11/03 | Robot Localization (con't.) | (see slides from Nov. 1) | Final project assigned. | |
| Tues. 11/08 |
Class subgroup I-A: NAO Lab in Claxton 205 (Final project work time) Class subgroups I-B, II-A: Lecture in Claxton 202, Multi-Robot Path Planning and Motion Coordination (guest lecture, Tony Zhang) Class subgroup II-B: Work independently on Predator/Prey final project |
Lecture slides (Multi-Robot Path Planning, Nov. 8, 10) | ||
| Tues. 11/10 |
Class subgroup I-A, II-B: Lecture in Claxton 202, Multi-Robot Path Planning and Motion Coordination (guest lecture, Tony Zhang) Class subgroup I-B: NAO Lab in Claxton 205 (Final project work time) Class subgroup II-A: Work independently on Predator/Prey final project |
Lecture slides (Multi-Robot Path Planning, Nov. 8, 10) | ||
| Tues. 11/15 | Robot Localization II, and Mapping |
Lecture slides (Localization II and Mapping, Nov. 15)
* Assigned reading: S. Thrun, Toward Robotic Cars RBD: BOC 11/17/11. |
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| Thurs. 11/17 |
Unmanned vehicles DARPA Grand Challenge DARPA Urban Challenge |
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| Tues. 11/22 |
Unmanned vehicles, con't. Google Driverless Car |
Assigned readings: Google blog article New York Times article IEEE Spectrum article on Google driverless car New York Times article on legislation IEEE Spectrum article on Nevada bill RBD: BOC 11/29/11 |
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| Thurs. 11/24 | No class; Happy Turkey Day! | |||
| Tues. 11/29 |
Space Exploration Rovers Sojourner Spirit Opportunity Curiosity |
Assigned reading: IEEE Spectrum article on Curiosity |
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| Thurs. 12/08, 14:45-16:45 (final exam slot) | Final project competitions |