| WEEK |
DATE |
TOPIC |
READING |
OUT |
DUE |
| 1 |
08-30 |
Introduction (.pdf)
LAB - Teleoperation |
GIR 1.1
About ROS
PRR CH. 1 (S)
|
PA0 |
|
|
09-01 |
ROS Command Line (.pdf)
LAB - ROS Command Line |
Syllabus
GIR 2.3-2.7
ROS Core Components
PRR CH. 2 (S)
GIR 2.1-2.2 (S) |
|
| 2 |
09-06 |
rocket_bot.py
thruster_w_globals.py
thruster_oo.py
thruster_oo_responder.py
LAB - Python Publishers and Subscribers |
ROS Tutorial 12
PRR CH. 3 (S) |
|
|
|
09-08 |
LAB - ROS Packages |
ROS Tutorials 3 & 4
git tutorial
github tutorial |
|
| 3 |
09-13 |
LAB - PID Control |
PID Tutorial (pdf)
PID Wikipedia (S)
ROS Tutorials 7 & 8
rospy parameter tutorial |
PA1 |
PA0 (9/12 5:00PM) |
|
09-15 |
Linear Algebra + Numpy
LAB - Numpy Sentry |
Numpy tutorial (only the numpy section)
Intro to Numpy and Scipy (S) (.pdf)
Linear Algebra Video (S) |
|
| 4 |
09-20 |
Coordinate Systems and Kinematics
Coordinate Systems |
Coordinate Frame Tutorial (.pdf)
Jennifer Kay Kinematics Tutorial (.pdf)
(Just sections 6-7) |
hw1.pdf
transforms.py
kinematics_hw.py
|
|
|
09-22 |
The tf system |
Video about tf
tf Overview |
|
| 5 |
09-27 |
Probability (.pdf) |
Bayesian Brain, Doya et.al (.pdf)
CH 1.1-1.2, 1.4-1.4.3
Set Theory Video (S)
Bayes’ Rule Video (S) |
|
Hw1 (9/27 5:00PM) |
|
09-29 |
Localization (.pdf)
Covariance Matrices +Multivariate Gaussian Distribution (.pdf) |
Bayesian Filtering for Location Estimation, Fox et.al. (.pdf)
p. 10-13
Mutltivariate Statistics Tutorial
6.5.1, 6.5.4-6.5.4.2 |
HW2 (.pdf) |
| 6 |
10-04 |
Kalman Filter (.pdf)
kalman.py
plot_gaussians.py
kalman_demo.py |
Kalman Filter Tutorial (1-14)
An Introduction to the Kalman Filter (S) |
|
PA1 (10/3 5:00PM)
HW2 (10/6 5:00PM) |
|
10-06 |
Particle Filter
Localization - Particle Filter (.pdf)
ROS Navigation Lab |
Particle Filter Explained without Equations
Bayesian Filtering for Location Estimation, Fox et.al. (.pdf)
p. 13-15 |
|
| 7 |
10-11 |
particle_demo.py
Midterm Review |
|
|
|
|
10-13 |
MIDTERM |
|
|
| 8 |
10-18 |
Mapping and SLAM (.pdf) |
Computational Principles of Mobile Robotics
9.2.2-9.2.3 |
PA2
Bibliography |
|
|
10-20 |
ROS Navigation Stack
ROS Navigation (.pdf)
ROS Navigation Lab |
actionlib documentation 1-5, 6.2 |
|
| 9 |
10-25 |
Configuration Spaces (.pdf)* |
Computational Principles of Mobile Robotics
CH 6-6.3.2
Configuration Space Visualization |
|
PA2A (10/24) |
|
10-27 |
Discrete Path Planning |
Computational Principles of Mobile Robotics 6.3.3 |
|
| 10 |
11-01 |
Continue Path Planning |
|
|
PA2B(10/31) |
|
11-03 |
Randomly Exploring Random Trees (.pdf) |
Rapidly-exploring random trees: A new tool for path planning S. M. LaValle, 1998 |
Final Project |
| 11 |
11-08 |
Computer Vision
Computer Vision (.pdf)
convolutions.py
OpenCV Lab |
Python OpenCV Intro
OpenCV Basic Operations
OpenCV images
OpenCV Video
OpenCV Drawing (s)
Computer Vision: Algorithms and ApplicationsCH 1 (s)
|
HW3 (.pdf) |
Bibliography (11/7) |
|
11-10 |
ROS Vision Lab |
|
|
| 12 |
11-15 |
Object Recognition (.pdf)
histogram.py
sift_demo.py |
Computer Vision: Algorithms and Applications CH 4-4.1.3
Deep Learning (Accessible from JMU network) |
|
Checkpoint 1 (11/14 5:00PM) |
|
11-17 |
Control Architectures |
|
|
| 13 |
11-22 |
THANKSGIVING |
|
|
|
|
11-24 |
THANKSGIVING |
|
|
| 14 |
11-29 |
Paper Presentations and Final Project Work |
|
|
Checkpoint 2 (12/01 5:00PM) |
|
12-01 |
Paper Presentations and Final Project Work |
|
|
| 15 |
12-06 |
Paper Presentations and Final Project Work |
|
|
|
|
12-08 |
Paper Presentations and Final Project Work |
|
|
|
12-15 |
Final Exam 10:30-12:30 |
|
|
|
