CS 685
Autonomous Robotics

Announcements

Matlab code repository
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, January 23   - Introduction and course logistics slides.pdf,
  - Rigid Body Motion (.pdf)
  - Notes (.pdf)
  - Get familiar Matlab
  - Read Stanley paper (.pdf)
week 2, Jan 30
  - Robot Kinematics
  - Mobile robot kinematics slides.pdf, notes (.pdf)
  - Kinematic chains notes (.pdf)
  Homework 1 (due Feb 6) Solution
week 3, Feb 6   - Mobile Robot Control slides.pdf
  - Chapter 3.4.3 until the end in Siegwart
  Homework 2 (due Feb 23)

week 4, Feb 13   - PID Control pid_notes.pdf
  - Control, Potential Field Methods slides.pdf
  - Steering behaviors www
  Homework 2 part 2 (due Feb 23)
week 5 Feb 20   - Robotics Architectures slides.pdf
  - Motion Planning slides.pdf
 
week 6 Feb 27   - Markov Decision Processes intro slides.pdf
 
  Homework 3 (due Mar 6)
week 7 March 6   - Markov Decision Processes cont. slides.pdf
 
  Homework 4 (due Mar 20)
week 8 March 13   - Spring Break
week 9 March 20   - Robot perception: calibration, stereo slides.pdf
  Chapter 4.1 in Siegwart
  MASKS Vision Book Handout Chapter 3. and 5.
  Homework 5 (due Mar 27)
week 10 March 27   - Robot Perception: epipolar geometry, matching slides.pdf
  - Range sensing slides.pdf
  Chapter 4.2-4.5 in Siegwart
week 11 April 3   - Robot Perception: object detection and recognition slides.pdf
  Homework 6 (due April 10)
week 12 April 10   - Introduction to probabilistic robotics slides.pdf
  - Bayes Filters, Kalman Filter slides.pdf
  Chapter 5.6 in Siegwart, www.probabilistic-robotics.org
 
week 13 April 17   - Sensor Models slides.pdf
  - Motion Models slides.pdf
  - Discrete Filters and Particle filters slides.pdf
  - Particle Filters Landmarks slides.pdf
  Homework 7 (due April 24)
  www.probabilistic-robotics.org
week 14   - Extended Kalman Filter slides.pdf
  - Iterative Closest Point Algorithm slides.pdf
  www.probabilistic-robotics.org
  Take home final exam out April 30th, due in class May 1st
  Homework 7 solution
week 15   - Simultaneous Localization and Mapping slides.pdf
  - Occupancy Grid Mapping slides.pdf
  - Markov Decision Processes intro slides.pdf
  - Project 1 (.pdf)
  - Project 2 (.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
The Sick LIDAR Matlab/C++ Toolboox