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.

Current Week

Week	Date	Topic	Readings	Assignment/Lab	Due
1	Aug 25	Before First Class		Take survey quiz in Canvas Configure your workstation
	Aug 27	Guide Introduction Slides	ROS2 Overview	Locomotive Sim Lab PA 0

2	Sep 1	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)
	Sep 3	ROS2 Python	ROS Python Programming Intro Video Python Publisher/Subscriber Tutorial	Python Publisher and Subscriber Lab

3	Sep 8	Creating ROS Packages	Package Creation Tutorial Package Layout Git Tutorial GitHub Tutorial	ROS2 Packaging Lab
	Sep 10	PID	PID Tutorial PID Video PID Wikipedia (S) ROS2 Parameters ROS2 Python Parameters	PID Lab PA 1	PA 0 Due (9/11 11:59PM)

4	Sep 15	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
	Sep 17	Kinematics Slides	Coordinate Frame Tutorial Jennifer Kay Kinematics Tutorial(Sections 6-7)	HW1

5	Sep 22	Configuration Space Slides	Planning Chapter (Section 4.1) Configuration Space Visualization Configuration Space Videos (Optional)	Configuration Space Activity
	Sep 24	Discrete State Planning	Planning Chapter (Section 4.2-4.3)

6	Sep 29	Rapid Exploring Random Tree (RRT) Probabalistic Planning slides	Planning Chapter (Section 4.4-4.4.1)
	Oct 1	Probablistic Road Map (PRM)	Planning Chapter (Section 4.4.2) Optimality with Probabastlic Planners(S)

7	Oct 6	Exam Review
	Oct 8	Probability Intro	Probability Primer (Pages 1-6) Probability Video	PA2

8	Oct 13	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)
	Oct 15	Kalman Filter	Kalman Filter Tutorial

9	Oct 20	Meet The Robots		Turtlebot Lab
	Oct 22	Localization w/Particle Filter Slides	Particle Filter Video Particle filter section pg 13 -15	Particle Filter (start in class)	PA2 (Friday 10/25 5PM)

10	Oct 27	Mapping and Slam (.pdf)	Simultaneous localization and mapping: part I (Skim, Access through VPN)		HW3 (10/28)
	Oct 29	Intro to ROS Navigation		Navigation Lab

11	Nov 3	JMU Robots Navigation in the Lab		Turtlebot SLAM Lab Final Project	Bibliography
	Nov 5	Vision Intro	Convolutions Python OpenCV Intro OpenCV Basic Operations OpenCV images OpenCV Video Computer Vision: Algorithms and ApplicationsCH 1 (s)	OpenCV Lab

12	Nov 10	Object Recognition Object Detection/Recognition	Computer Vision: Algorithms and Applications (1st ed.) CH 4-4.1.3
	Nov 12	Deep Networks ROS Vision Lab	Deep Learning Computer Vision: Algorithms and Applications (2nd ed.) CH 5.3-5.4 (S)

13	Nov 17	Exam 2 Review and release (take home)
	Nov 19	Paper presentation and Final Project Work			Final Project Checkpoint 1

14	Nov 24	Thanksgiving Break
	Nov 26

15	Dec 1	Paper presentation and Final Project Work
	Dec 3	Paper presentation and Final Project Work

16	Dec 8	Paper presentation and Final Project Work
	Dec 10	Paper presentation and Final Project Work			Final Project Checkpoint 2

17	Dec 15	Final Project Competition