Announcements
Requirements Python 3.9.x and Anaconda (for managing virtual env.)
Project Ideas
Review Chapters 3, 13, 14, 15 from Russel and Norvig AI book
Schedule (subject to change)
Date Topic, Handouts Assignments/Due dates week 1 Introduction and course logistics slides.pdf,
Rigid Body Motion (.pdf)
Notes (.pdf)Get familiar Python
Read Carla paper (.pdf)
Read Habitat paper (.pdf)
Homework 0: Read Carla Paper, Read Habitat Paper
week 2
Robot Kinematics
Mobile robot kinematics slides(.pdf), notes (.pdf)
Kinematic chains notes(.pdf)
Homework 1 (see Blackboard) (due Sept 15)
week 3 Mobile Robot Control slides
Motion Planning - Graph Algorithms slides
Motion Planning - Configuration Space slides
Extra material Trajectory Generation slides
Extra PID Control pid_notes.pdf
Chapter 3.4.3 until the end in Siegwart
week 4 Motion Planning - Probabilistic Roadmaps slides
Motion Planning - Potential Fields slides
Homework 2 (see Blackboard) (due Sept 29)
week 5 Robotics Architectures slides.pdf
Steering behaviors www
Introduction to probabilistic robotics, Bayers filters slides.pdf
Chapter 5.6 in Siegwart, www.probabilistic-robotics.org
week 6 Motion and Sensor Models slides.pdf
Kalman Filter slides.pdf
Extended Kalman Filter slides.pdf
Particle filters slides.pdf
Occupancy Grids slides.pdf
www.probabilistic-robotics.org
week 7 SLAM, Graph SLAM slides.pdf
Robot perception: calibration, single view slides.pdf
Homework 3 (due Nov 3) week 8 Robot perception: two views, 3D reconstruction slides.pdf
MASKS Vision Book Handout
KinectFusion
week 9 Robot Perception: object detection and recognition slides.pdf
week 10 Iterative Closest Point Algorithm slides.pdf
week 11 Markov Decision Processes intro slides.pdf
week 12 Markov Decision Processes intro slides.pdf
week 11 Markov Decision Processes cont. slides.pdf
week 16 Project Ideas Project Ideas
Final Project Presentation slides (.pdf)
formatting instructions latex (.tar.gz) MS word (.doc)
Related software, robot simulators, GMU info
GMU robot lab
Matlab resources - Matlab Primer
Kalman Filter material repository
Introduction to the Kalman filter (notes)
Teambots simulator - for single/multi robot simulation (java)
Player/Stage Robot and sensor simulator
Mason simulator - multiagent simulation base, large number of agents (java) + other simulator links
Gibson simulator
AI2 Thor Visual AI platform
Minos Flexible API
Natural Language Instructions
HoME environment Challet environment The Sick LIDAR Matlab/C++ Toolboox