Unless otherwise noted, all readings are from Computational Principles of Mobile Robotics, 2nd Edition. Gregory Dudek and Michael Jenkin. Readings followed by (S) are supplemental. You should read them, but you won't be tested on that material.
| WEEK | DATE | TOPIC | READING | OUT | IN |
| 1 | 01-08 | Introduction (.pdf) | CH 1 About ROS |
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| 01-10 | Lab1 - Nodes and Topics | ROS Concepts | |||
| 2 | 01-15 | Lab2 - Packages and Writing Nodes pid.py pid_demo.py |
*CH. 3-3.1.3 *Wikipedia: PID Contollers (s) *ROS Tutorials 3, 12, 13 |
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| 01-17 | Lab3 - Launch Files | ROS Tutorials 7, 8 | PA1, HW1 | ||
| 3 | 01-22 | Start Kinematics transforms.py Continue Lab3 |
*Appendix B.1-B.2 *Introduction to Homogeneous Transformations & Robot Kinematics (.pdf) Sections 1-6.5 *CH 3.1.8 (Forward and inverse kinematics) |
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| 01-24 | Work Day | HW2 (.pdf) hw2.tex hw2.py |
HW1 LAB3 (1/25) |
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| 4 | 01-29 | Finish Kinematics | Finish Introduction to Homogeneous Transformations & Robot Kinematics |
PA1 | |
| 01-31 | The tf package Lab4 |
Learning tf Tutorial | HW2 (2/1) | ||
| 5 | 02-05 | Mapping and Probability (.pdf) | Appendix A.1 CH 9 - 9.2.1 Learning Occupancy Grid Maps with Forward Sensor Models (through section 2) |
PA2 | |
| 02-07 | Work on Mapping | HW3 | Lab4 (2/8, 5PM) | ||
| 6 | 02-12 | ASSESMENT DAY | |||
| 02-14 | The Kalman Filter (.pdf) | Appendix A.2 Skim CH 4-4.8 CH 4.9-4.9.1 kalman.py kalman_demo.py plot_gaussians.py |
Project Proposal (.pdf) HW3 (2/18) |
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| 7 | 02-19 | Bayesian State Estimation (.pdf) | Appendix C.1 http://en.wikipedia.org/wiki/Recursive_Bayesian_estimation CH 4.9.2-4.9.4 |
PA2 | |
| 02-21 | SLAM + Particle Filters LAB5: Turtlebot Mapping and Navigation |
CH 9.2 Turtlebot SLAM Tutorial Turtlebot Navigation Tutorial |
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| 8 | 02-26 | LAB6: Computer Vision Lab | CH 5 (skim) | ||
| 02-28 | Work Day | HW4 | Final Deliverable1 (3/1, 5PM) | ||
| 9 | 03-05 | SPRING BREAK | |||
| 03-07 | SPRING BREAK | ||||
| 10 | 03-12 | Configuration Spaces | CH 6-6.3.2 Configuration Space Visualization |
HW5 | HW4 (5PM) |
| 03-14 | MIDTERM | LAB6 (3/15, 5PM) | |||
| 11 | 03-19 | Work Day | |||
| 03-21 | Discrete Path Planning (.pdf) | CH 6.3.3 Thrun A* Videos 12-14, 20, 23 |
HW6 | Deliverable 2 (3/22 5PM) | |
| 12 | 03-26 | Continuous Path Planning | CH 6.3.4-6.3.6 Real Time Randomized Path Planning for Robot Navigation |
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| 03-28 | Work Day | HW5 (Annotated Bibliographies) | |||
| 13 | 04-02 | Control Architectures | CH 7 - 7.5.0 Gat, Erann. "On three-layer architectures." Artificial intelligence and mobile robots (1998): 195-210. |
HW6 | |
| 04-04 | Paper Presentation (x2) | Deliverable 3 (4/5 5PM) | |||
| 14 | 04-09 | Work Day | |||
| 04-11 | Paper Presentation (x2) | ||||
| 15 | 04-16 | Paper Presentation (x2) | |||
| 04-18 | Work Day | Working Demo (4/19 5PM) | |||
| 16 | 04-23 | Review for Final | |||
| 04-25 | Final Project Presentations | ||||
| 04-30 | Final 8:00-10:00 |