Tentative Syllabus

Information

  • Instructor: Amarda Shehu amarda\AT\cs.gmu.edu
    Place and Time: Art and Design Building, L008, MW 12:00-1:15 pm
    Office Hours: ENGR #4452, MW 11:00-11:59 am
    TA: David Morris (dmorri17\AT\gmu.edu), ENGR #4454, Robotics Lab

Tentative Syllabus

  • Date Topic Reading Assignments
    Basic Motion-Planning Algorithms and Foundations
    Aug. 29 Introduction and Course Overview [pdf] (Chapter 1)
    Aug. 31 Bug Algorithms: Bug0, Bug1 [pdf] (Chapter 2) Hw1 Out
    Sep. 07 Bug Algorithms: Bug1, Bug2 [pdf] (Chapter 2) [Practical Robotics Tips]
    Sep. 12 Configuration Space [pdf] Kuffner 2004
    Sep. 14 Forward Kinematics [pdf] [DH-Deriv], [DH-YouTube]
    Sep. 19 Inverse Kinematics [pdf] (Chapter 3.1-3.4) [IK-Deriv]
    Sep. 21 Inverse Kinematics contd [pdf] (Chapter 3.1-3.4) [IK-Deriv]
    Sep. 26 Potential Fields [pdf] (Chapter 4)
    Sep. 28 Potential Fields contd [pdf] (Chapter 4)
    Oct. 03 Deterministic Roadmap Planners [pdf] Chapters 5-6 Hw1 Due
    Oct. 05 Deterministic Roadmap Planners contd [pdf] Chapters 5-6
    Oct. 11 Exam 1 Hw2 Out
    Sampling-based and Probabilistic Motion Planning
    Oct. 12 Probabilistic Roadmap [pdf] (Chapter 7) PRM Proof
    Oct. 17 Biased Sampling [pdf]
    Oct. 19 Random Trees [pdf]
    Advanced Motion Planning
    Oct. 24 Planning with Kinematic Constraints [pdf], Lavalle
    Oct. 26 Wheeled Systems [pdf], Lavalle
    Oct. 31 Planning with Kinodynamic Constraints [pdf], Lavalle Hw2 Due, Hw3 Out
    Nov. 02 Multi-Robot Planning [pdf]
    Nov. 07 Multi-Robot Planning contd [pdf]
    Nov. 09 Manipulation Planning [pdf], Fuzzy PRM , WGR Bi-RRT
    Nov. 14 Topic Selection Presentation
    Localization and Mapping
    Nov. 16 Perception, Range Sensing [pdf] Hw3 Due
    Nov. 21 Exam2
    Nov. 28 Modeling Uncertainty, Probability [pdf]
    Nov. 30 Sensor Model and Hands-on Problems [pdf]
    Dec. 05 Action Model, Hands-on Problems, and Recursive Bayesian Filtering [pdf]
    Dec. 07 SLAM, Kalman Filters, and Particle Filters [pdf], Particle Filters, A nice paper Project Preliminary Report
    Dec. 19 Project Demos and Presentations [Demos] 10:30 am - 1:15 pm
    In place of final exam