| WEEK |
DATE |
|
READING |
OUT |
DUE |
| 1 |
01-08 |
Introduction (.pdf)
LAB - Teleoperation |
GIR 1.1
About ROS
PRR CH. 1 (S)
|
PA0 |
|
|
01-10 |
ROS Command Line (.pdf)
ROS Cheat Sheet (.pdf)
LAB - ROS Command Line
ROS Command-Line Tools |
Syllabus
Video
GIR 2.3-2.7
ROS Core Components
PRR CH. 2 (S)
GIR 2.1-2.2 (S) |
|
| 2 |
01-15 |
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) |
|
|
|
01-17 |
LAB - ROS Packages |
ROS Tutorials 3 & 4
git tutorial
github tutorial |
|
| 3 |
01-22 |
PID (.pdf)
LAB - PID Control
|
PID Tutorial (pdf)
Video
PID Wikipedia (S)
ROS Tutorials 7 & 8
rospy parameter tutorial |
PA1 |
PA0 (1/21 5:00PM) |
|
01-24 |
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 |
01-29 |
Coordinate Systems
|
Coordinate Frame Tutorial (.pdf)
Jennifer Kay Kinematics Tutorial (.pdf)
(Just sections 6-7) |
HW1
kinematics_hw.py
transforms.py |
|
|
01-31 |
The tf System
tf_demo.py
tf2_demo.py |
Video about tf
tf2 Overview |
|
| 5 |
02-05 |
ASSESSMENT DAY |
|
|
HW1 (2/6 5:00PM) |
|
02-07 |
Configuration Spaces (.pdf)
|
Planning Chapter (4.1)
Configuration Space Visualization
Configuration Space Videos (s) |
|
| 6 |
02-12 |
Grid-based planning |
Planning Chapter (4.2-4.3) |
planning_hw.py
priority_queue.py
|
PA1 (2/11 5:00PM) |
|
02-14 |
ROS Navigation (.pdf)
ROS Navigation Lab |
actionlib documentation 1-5, 6.2 |
Bibliography |
| 7 |
02-19 |
RRT and PRM |
Planning Chapter (4.1)
(s) Rapidly-exploring random trees: A new tool for path planning S. M. LaValle, 1998
|
HW2
PA2 |
|
|
02-21 |
Probability (.pdf) |
prob_primer.pdf (p.1-6)
Video
Set Theory Video (S)
Bayes’ Rule Video (S) |
|
| 8 |
02-26 |
Midterm Review |
|
|
HW2 (2/25 5:00PM)
|
|
02-28 |
Midterm |
|
|
| 9 |
03-05 |
SPRING BREAK |
|
|
|
|
03-07 |
SPRING BREAK |
|
|
| 10 |
03-12 |
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 |
|
PA2 (3/13 5:00PM) |
|
03-14 |
Kalman Filter (.pdf)
kalman.py
plot_gaussians.py
kalman_demo.py |
Kalman Filter Tutorial
An Introduction to the Kalman Filter (S) |
Final Project |
| 11 |
03-19 |
Localization - Particle Filter (.pdf) |
Particle Filter Explained without Equations
Bayesian Filtering for Location Estimation, Fox et.al. (.pdf)
p. 13-15 |
HW3 |
|
|
03-21 |
Mapping and SLAM (.pdf) |
Computational Principles of Mobile Robotics
CH 6-6.3.2
CH 9.2.2-9.2.3 |
|
| 12 |
03-26 |
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)
|
|
HW3 (3/25 5:00PM)
Checkpoint 1 (3/29) |
|
03-28 |
Object Recognition (.pdf)
histogram.py
sift_demo.py |
Computer Vision: Algorithms and Applications CH 4-4.1.3 |
|
| 13 |
04-02 |
ROS Vision Lab
Deep Learning |
Deep Learning (Accessible from JMU network) |
|
Blibliography (4/1 5:00PM) |
|
04-04 |
Finish Vision
Paper Presentations
|
|
|
| 14 |
04-09 |
Paper Presentations
Control Architectures |
|
|
Checkpoint 2 (4/12) |
|
04-11 |
Paper Presentations and Final Project Work |
|
|
| 15 |
04-16 |
Paper Presentations and Final Project Work |
|
|
|
|
04-18 |
Paper Presentations and Final Project Work |
|
|
| 16 |
04-23 |
Paper Presentations and Exam Review |
|
|
Checkpoint 3 (by appointment) |
|
04-25 |
Exam |
|
|
| 17 |
04-30 |
Final Project Presentations 10:30-12:30 |
|
|
|
