WEEK |
DATE |
|
READING |
OUT |
DUE |
1 |
08-29 |
Introduction (.pdf) LAB - Teleoperation |
GIR 1.1 About ROS PRR CH. 1 (S)
|
PA0 |
|
|
08-31 |
ROS Command Line (.pdf) ROS Cheat Sheet (.pdf) LAB - ROS Command Line |
Syllabus Video GIR 2.3-2.7 ROS Core Components PRR CH. 2 (S) GIR 2.1-2.2 (S) |
|
2 |
09-05 |
rocket_bot.py thruster_w_globals.py thruster_oo.py thruster_oo_responder.py LAB - Python Publishers and Subscribers |
Video ROS Tutorial 12 PRR CH. 3 (S) |
|
|
|
09-07 |
LAB - ROS Packages |
ROS Tutorials 3 & 4 git tutorial github tutorial |
|
3 |
09-12 |
LAB - PID Control |
PID Tutorial (pdf) Video PID Wikipedia (S) ROS Tutorials 7 & 8 rospy parameter tutorial |
PA1 |
PA0 (9/11 5:00PM) |
|
09-14 |
LAB - Numpy Sentry |
Linear Algebra Video Linear Algebra Review and Reference (.pdf) sections 1-3.7, (skip 3.6) Numpy tutorial (only the numpy section) Fast Numpy Video Intro to Numpy and Scipy (S) (.pdf) |
|
4 |
09-19 |
Coordinate Systems |
Coordinate Frame Tutorial (.pdf) Jennifer Kay Kinematics Tutorial (.pdf) (Just sections 6-7) |
hw1.pdf transforms.py kinematics_hw.py
|
|
|
09-21 |
The tf System tf_demo.py tf2_demo.py |
Video about tf tf Overview |
|
5 |
09-26 |
Probability (.pdf) |
Bayesian Brain, Doya et.al (.pdf) CH 1.1-1.2, 1.4-1.4.3 Video Set Theory Video (S) Bayes’ Rule Video (S) |
|
Hw1 (9/26 5:00PM) |
|
09-28 |
Start Localization 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 |
10-03 |
Kalman Filter (.pdf) kalman.py plot_gaussians.py kalman_demo.py |
Kalman Filter Tutorial An Introduction to the Kalman Filter (S) |
Bibliography |
PA1 (10/2 5:00PM) |
|
10-05 |
Localization - Particle Filter (.pdf) particle_demo.py ROS Navigation Lab |
Particle Filter Explained without Equations Bayesian Filtering for Location Estimation, Fox et.al. (.pdf) p. 13-15 |
|
7 |
10-10 |
Midterm Review |
|
|
HW2 (10/9 5:00PM) |
|
10-12 |
MIDTERM |
|
|
8 |
10-17 |
Mapping and SLAM Mapping and SLAM (.pdf) |
Computational Principles of Mobile Robotics 9.2.2-9.2.3 |
PA2
|
|
|
10-19 |
ROS Navigation (.pdf) ROS Navigation Lab |
actionlib documentation 1-5, 6.2 |
|
9 |
10-24 |
Configuration Spaces (.pdf) |
Computational Principles of Mobile Robotics CH 6-6.3.2 Configuration Space Visualization Configuration Space Videos (s) |
Final Project |
PA2A (10/23) |
|
10-26 |
Discrete Path Planning |
Computational Principles of Mobile Robotics 6.3.3 |
|
10 |
10-31 |
Randomly Exploring Random Trees (.pdf) |
Rapidly-exploring random trees: A new tool for path planning S. M. LaValle, 1998 |
|
PA2B(10/30) Bibliography (11/5) |
|
11-02 |
Computer Vision (.pdf) convolutions.py OpenCV Lab |
Convolutions Python OpenCV Intro OpenCV Basic Operations OpenCV images OpenCV Video OpenCV Drawing (s) Computer Vision: Algorithms and ApplicationsCH 1 (s)
|
|
11 |
11-07 |
Object Recognition (.pdf) histogram.py sift_demo.py |
Computer Vision: Algorithms and Applications CH 4-4.1.3 |
HW3 (.pdf)
|
Checkpoint 1 (11/7) |
|
11-09 |
ROS Vision Lab |
Deep Learning (Accessible from JMU network) |
|
12 |
11-14 |
Finish Vision Paper Presentations
|
|
|
Checkpoint 2 (11/17 5:00PM) |
|
11-16 |
Paper Presentations Control Architectures |
|
|
13 |
11-21 |
THANKSGIVING |
|
|
|
|
11-23 |
THANKSGIVING |
|
|
14 |
11-28 |
Paper Presentations and Final Project Work |
|
|
|
|
11-30 |
Paper Presentations and Final Project Work |
|
|
15 |
12-05 |
Paper Presentations and Final Project Work |
|
|
Checkpoint 3 (12/04) |
|
12-07 |
Exam |
|
|
|
12-12 |
Final Project Presentations 10:30-12:30 |
|
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