CSCI-632 Mobile Robot Programming

Tentative schedule

Syllabus ----- Schedule

Note:
  • Readings CPMR are from Computational Principles of Mobile Robotics
  • PRM from Principles of Robot Motion (these will be handed out and/or made available via MyCourses)
  • PA are from Planning Algorithms.
  • Other papers and links to them can be found at the bottom of the page.

Week Topic(s) Readings Also...
1 (1/16+18) What are robots (for)?, intro to ROS CPMR ch. 1, 2, 7.1-7.4 Thursday class in ICL1
2 (1/23+25) Robot design, kinematics, sensors CPMR 3, 4.1-4.7 HW1 [ROS setup] due 1/25
3 (1/30+2/1) Reactive control, obstacle avoidance PRM 2.1-2.2, notes HW2 [Goto] due 2/4
4 (2/6+8) Tuesday activity TBD; environment representations CPMR 6.1-6.3, PA 5.4-5.6  
5 (2/13+15) Maps, Path planning/execution PRM H.3, Notes HW3 [safe goto] due 2/18
6 (2/20+22) Sparse representations, hardware demos    
7 (2/27+3/1) Prob + stats review, mapping, sensor modeling(?) CPMR appendix A, ch. 9, PRM 9.2 HW3B [hardware tests] due 2/28
8 (3/6+8) Prob/stats/geometry, Localization CPMR ch. 8, appendix B.1-2,
Covariance notes Transformation matrices
 
Spring break
9 (3/20+22) Localization (Kalman Filter ; Particle Filter) Notes, these notes HW4 [Mapping] due
10 (3/27+29) SLAM (Kalman Filter ; Particle Filter) Notes, tutorial,
these slides
HW4B [HW tests] due
11 (4/3+5) Computer vision for robotics, applications CPMR ch. 5, ch. 11 Research topic approved by 4/5
12 (4/10+12) Non (A->B) algorithms,Robot teams CPMR ch. 10, PA 12.4, notes Project progress report due 4/12
13 (4/17+19) Presentations   Research reports due
4/17
14 (4/24+26) Presentations, final exam review   Project due 4/30
Final exam TBA

Videos / papers

1/23: Snake robot · Honda U3-X · RHex

HW 1 interesting robots: Pinokio · Mobile Personal Space · Kengoro · Pleurobot · MantaDroid

1/30: CMU Mobot competition 2009

2/1: Mobile Robot Design's Final Project

2/20: RRT* · RRT & PRM variants

2/27: Evidence-grid-based exploration

3/8: HRT-SLAM · Visual SLAM loop closure

3/22: Particle Filter animation

4/3: Aibo first-person video · Hough transform for circles · Bio-inspired flying robots · Image search tutorial

4/5: Postal drone · Sentry AUV · Tree harvesting walker · Mars Rover path planning · BowLeg hopper · BowGo · Ballbot

4/10: Packbot · Roomba PacMan

4/12: CkBot · Cooperative box pushing · Multi-robot object transport · Optimal Reciprocal Collision Avoidance · Kilobot · RiSE