**
Announcements**

Matlab code repository

Project Ideas

Review Chapters 3, 13, 14, 15 from Russel and Norvig AI book

** Schedule** (subject to change)

DateTopic, HandoutsAssignments/Due datesweek 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 solutionweek 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 infoGMU 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