CS 354 Robotics - Fall 2020

CS 354 Autonomous Robotics

Fall 2020

This page is for the 2020 Fall version of this class. For general information concerning this course, refer to the general course page.

Class Calendar

Reading marked with an (S) are supplemental, meaning you should read them, but you won't be tested on that material.

Week	Date	Topic	Readings	Assignment/Lab	Due
		Before First Class		Take survey quiz in Canvas Configure your workstation
		Guide Introduction Slides	ROS2 Overview	Locomotive Sim Lab PA 0

		ROS Command Line ROS Architecture Video	Turtelsim and RQt ROS2 Nodes ROS2 Topics ROS2 CLI Cheat Sheet (.pdf)	TeleOperation and ROS Commands Lab	Workstation Config (nothing to turn in) Quiz 1 (in Canvas)
		ROS2 Python	ROS Python Programming Intro Video Python Publisher/Subscriber Tutorial	Python Publisher and Subscriber Lab

		Creating ROS Packages	Package Creation Tutorial Package Layout Git Tutorial GitHub Tutorial	ROS2 Packaging Lab
		PID	PID Tutorial PID Video PID Wikipedia (S) ROS2 Parameters ROS2 Python Parameters	PID Lab PA 1	PA 0 Due (9/11 11:59PM)

		Linear Algebra and Numpy	Linear Algebra Video Linear Algebra Review and Reference sections 1-3.7, (skip 3.6) Numpy Tutorial (only the numpy section) Fast Numpy Video	Numpy Intrusion Detection
		Kinematics Slides	Coordinate Frame Tutorial Jennifer Kay Kinematics Tutorial(Sections 6-7)	HW1

		Configuration Space Slides	Planning Chapter (Section 4.1) Configuration Space Visualization Configuration Space Videos (Optional)	Configuration Space Activity
		Discrete State Planning	Planning Chapter (Section 4.2-4.3)

		Rapid Exploring Random Tree (RRT) Probabalistic Planning slides	Planning Chapter (Section 4.4-4.4.1)
		Probablistic Road Map (PRM)	Planning Chapter (Section 4.4.2) Optimality with Probabastlic Planners(S)

		Exam Review
		Probability Intro	Probability Primer (Pages 1-6) Probability Video	PA2

		Localization Multivariate Normal Distribution	Bayesian Filtering for Location Estimation, Fox et.al. (.pdf) (Pages 10-13) Multivariate Statistics Tutorial(6.5.1, 6.5.4-6.5.4.2)
		Kalman Filter	Kalman Filter Tutorial

		Meet The Robots		Turtlebot Lab
		Localization w/Particle Filter Slides	Particle Filter Video Particle filter section pg 13 -15	Particle Filter (start in class)	PA2 (Friday 10/25 5PM)

		Mapping and Slam (.pdf)	Simultaneous localization and mapping: part I (Skim, Access through VPN)		HW3 (10/28)
		Intro to ROS Navigation		Navigation Lab

		JMU Robots Navigation in the Lab		Turtlebot SLAM Lab Final Project	Bibliography
		Vision Intro	Convolutions Python OpenCV Intro OpenCV Basic Operations OpenCV images OpenCV Video Computer Vision: Algorithms and ApplicationsCH 1 (s)	OpenCV Lab

		Object Recognition Object Detection/Recognition	Computer Vision: Algorithms and Applications (1st ed.) CH 4-4.1.3
		Deep Networks ROS Vision Lab	Deep Learning Computer Vision: Algorithms and Applications (2nd ed.) CH 5.3-5.4 (S)

		Exam 2 Review and release (take home)
		Paper presentation and Final Project Work			Final Project Checkpoint 1

		Thanksgiving Break


		Paper presentation and Final Project Work
		Paper presentation and Final Project Work

		Paper presentation and Final Project Work
		Paper presentation and Final Project Work			Final Project Checkpoint 2

		Final Project Competition