CS354 Schedule

Readings followed by (S) are supplemental. You should read them, but you won't be tested on that material.

Readings labeled "GIR" are from A Gentle Introduction to ROS. Jason M. O'Kane. 2014.

Readings labeled "PRR" are from Programming Robots with ROS . Morgan Quigley, Brian Gerkey, William D. Smart. 2015.

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)		PA0 (1/21 5:00PM)
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)		HW1 (2/6 5:00PM)
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	PA1 (2/11 5:00PM)
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			HW2 (2/25 5:00PM)
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	PA2 (3/13 5:00PM)
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		HW3 (3/25 5:00PM) Checkpoint 1 (3/29)
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			Blibliography (4/1 5:00PM)
14	04-09	Paper Presentations Control Architectures			Checkpoint 2 (4/12)
	04-11	Paper Presentations and Final Project Work			Checkpoint 2 (4/12)
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			Checkpoint 3 (by appointment)
17	04-30	Final Project Presentations 10:30-12:30