cs 485

CS 485
Autonomous Robotics

Announcements

Matlab code repository
Project Ideas
Homeworks
Review Chapters 3, 13, 14, 15 from Russel and Norvig AI book

Schedule (subject to change)

Date Topic, Handouts Assignments/Due dates

Jan. 26 - Introduction and course logistics slides.pdf,
- Rigid Body Motion (.pdf)
- Notes (.pdf) - Get familiar Matlab Matlab
- Read Stanley paper (.pdf)

Feb. 2 - Robot Kinematics, Kinematic chains
- Mobile robot kinematics slides.pdf,
writeup.pdf
Homework 1 , solution

Feb. 9 - Linear Algebra Review (cont.) (.pdf)
- Elementary Control slides.pdf
- Trajectory Generation Notes (.pdf)
- Chapter 3.4.3 until the end in Siegwart

Feb. 16 - Control Continued
- Robot Behaviours and Architectures (.pdf)
- Steering behaviors www
Homework 2 , solution

Feb. 23 - Motion Planning (.pdf)
- Potential Field Methods

March 1 - Robot Perception (.pdf)
- Model Fitting (.pdf)
Practice Homework

March 8 - Robot Perception (.pdf)
Chapter 4.2-4.5 in Siegwart
Homework 3 (due March 29)

March 15 - Spring break

March 22 - Range Sensing (.pdf)
- Iterative Closest Point Algorithm (.pdf)

March 29 - Introduction to Probabilistic Robotics (.pdf)
- Bayes Filters, Kalman Filter (.pdf)
Homework 4 (due April 12)

April 5 - Robot Localization, Kalman Filter (.pdf)
- Motion and Sensor Models (.pdf)
- www.probabilistic-robotics.org

April 12 - Particle Filters (.pdf)
- Occupancy grids (.pdf)
- Project Proposal due

April 19 - Simultaneous Localization and Mapping (.pdf)
- Topological Mapping (.pdf)

April 26 - Markov Decision Processes, POMDP's (.pdf)

May 3 - Reinforcement Learning (.pdf)

May 10 - 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
The Sick LIDAR Matlab/C++ Toolboox

Date	Topic, Handouts	Assignments/Due dates
Jan. 26	- Introduction and course logistics slides.pdf, - Rigid Body Motion (.pdf) - Notes (.pdf)	- Get familiar Matlab Matlab - Read Stanley paper (.pdf)
Feb. 2	- Robot Kinematics, Kinematic chains - Mobile robot kinematics slides.pdf, writeup.pdf	Homework 1 , solution
Feb. 9	- Linear Algebra Review (cont.) (.pdf) - Elementary Control slides.pdf - Trajectory Generation Notes (.pdf)	- Chapter 3.4.3 until the end in Siegwart
Feb. 16	- Control Continued - Robot Behaviours and Architectures (.pdf) - Steering behaviors www	Homework 2 , solution
Feb. 23	- Motion Planning (.pdf) - Potential Field Methods
March 1	- Robot Perception (.pdf) - Model Fitting (.pdf)	Practice Homework
March 8	- Robot Perception (.pdf)	Chapter 4.2-4.5 in Siegwart Homework 3 (due March 29)
March 15	- Spring break
March 22	- Range Sensing (.pdf) - Iterative Closest Point Algorithm (.pdf)
March 29	- Introduction to Probabilistic Robotics (.pdf) - Bayes Filters, Kalman Filter (.pdf)	Homework 4 (due April 12)
April 5	- Robot Localization, Kalman Filter (.pdf) - Motion and Sensor Models (.pdf)	- www.probabilistic-robotics.org
April 12	- Particle Filters (.pdf) - Occupancy grids (.pdf)	- Project Proposal due
April 19	- Simultaneous Localization and Mapping (.pdf) - Topological Mapping (.pdf)
April 26	- Markov Decision Processes, POMDP's (.pdf)
May 3	- Reinforcement Learning (.pdf)
May 10	- Final Project Presentation slides (.pdf) - formatting instructions latex (.tar.gz) MS word (.doc)