Readings followed by (S) are supplemental. You should read them, but you won't be tested on that material.
| WEEK |
DATE |
TOPIC |
READING |
OUT |
DUE |
| 1 |
09-01 |
Introduction / Syllabus
LAB - Teleoperation |
GIR 1.1
About ROS |
PA0 |
|
|
09-03 |
ROS Command Line (.pdf)
LAB - ROS Command Line |
Syllabus
GIR 2.3-2.7
ROS Core Components
GIR 2.1-2.2 (s) |
|
| 2 |
09-08 |
rocket_bot.py
thruster_w_globals.py
thruster_oo.py
thruster_oo_responder.py
LAB - Python Publishers and Subscribers |
ROS Tutorial 12 |
|
PA0 (9/11 5:00PM) |
|
09-10 |
LAB - ROS Packages |
ROS Tutorials 3 & 4
Mercurial Tutorial 1
Mercurial Tutorial 2 |
PA1 |
| 3 |
09-15 |
Coordinate Systems |
Introduction to Homogeneous Transformations & Robot Kinematics
Linear Algebra Video (s) |
HW1.pdf
transforms.py
kinematics_hw.py |
|
|
09-17 |
Numpy
Representing Rotations
The tf system |
Intro. to Numpy and Scipy (.pdf)
(p 1-11, 16-17)
Video about tf
tf Overview page
Quaternion Video |
|
| 4 |
09-22 |
LAB - tf |
|
|
HW1 (Wednesday 9/23, 11:59PM)
PA1 (Friday 9/25, 5:00PM) |
|
09-24 |
Probability (.pdf)
Bayes' Activity |
Video 1 - Set Theory
Video 2 - Bayes' Rule
Computational Principles of Mobile Robotics, Appendix A |
|
| 5 |
09-29 |
Localization (.pdf)
Covariance Matrices +Multivariate Gaussian Distribution (.pdf) |
Bayesian Filtering for Location Estimation (.pdf)
Fox et. al., 2003. p. 10-13
Multivariate Statistics Tutorial
6.5.1, 6.5.4-6.4.2 |
HW2 (.pdf) |
|
|
10-01 |
Kalman Filter (.pdf)
kalman.py
plot_gaussians.py
kalman_demo.py |
Kalman Filter Tutorial (1-14)
An Introduction to the Kalman Filter (s) |
|
| 6 |
10-06 |
Localization - Particle Filter (.pdf)
particle_demo.py
ROS Navigation Lab
|
Particle Filter Explained without Equations
Bayesian Filtering for Location Estimation (.pdf)
Fox et. al., 2003. p. 13-15 |
|
HW2 (Thursday, 11:00AM) |
|
10-08 |
Midterm Review |
|
PA2 |
| 7 |
10-13 |
MIDTERM |
|
|
|
|
10-15 |
SLAM (.pdf) |
Computational Principles of Mobile Robotics
9.2.2-9.2.3 |
|
| 8 |
10-20 |
ROS Navigation (.pdf)
ROS Navigation Lab |
actionlib documentation 1-5, 6.2 |
|
PA2 (Friday 5:00PM)
|
|
10-22 |
Configuration Spaces (.pdf) |
Computational Principles of Mobile Robotics
CH 6 - 6.3.2
Configuration Space Visualization |
Bibliography |
| 9 |
10-27 |
Discrete Path Planning |
Computational Principles of Mobile Robotics
CH 6.3.3 |
Final Project |
|
|
10-29 |
Continue Path Planning |
|
|
| 10 |
11-03 |
Randomly Exploring Random Trees (.pdf) |
Rapidly-exploring random trees: A new tool for path planning. S. M. LaValle, 1998
RRT Demos and information (s) |
HW3 (.pdf) |
HW3 (Friday 5:00PM) |
|
11-05 |
Computer Vision (.pdf)
convolutions.py
OpenCV Lab |
Python OpenCV IntroOpenCV Basic OperationsOpenCV images OpenCV VideoOpenCV Drawing (s)Computer Vision: Algorithms and ApplicationsCH 1 (s) |
|
| 11 |
11-10 |
Computer Vision
ROS Vision Lab |
Computer Vision: Algorithms and Applications
CH 4-4.1.3 |
|
Checkpoint #1 (Monday 11:00PM)
Bibliography (Thursday 11:00PM) |
|
11-12 |
Object Recognition (.pdf) |
Deep Learning (Accessible from JMU network) |
|
| 12 |
11-17 |
Control Architectures |
Computational Principles of Mobile Robotics
CH 7 - 7.5.0 |
|
Checkpoint #2 (Friday 5:00PM) |
|
11-19 |
Paper Presentations and Final Project Work |
|
|
| 13 |
11-24 |
THANKSGIVING |
|
|
|
|
11-26 |
THANKSGIVING |
|
|
| 14 |
12-01 |
Paper Presentations and Final Project Work |
|
|
Checkpoint #3 (Friday 5:00PM) |
|
12-03 |
Paper Presentations and Final Project Work |
|
|
| 15 |
12-08 |
Final Project Presentations (2:00-4:00) |
|
|
|
|
12-10 |
Paper Presentations and Final Project Work |
|
|
|
12-15 |
Final 1:00-3:00 |
|
|
|
