Tue, Thu 11:20-12:35, Martin 213
Instructor: Matt Zucker
This course addresses the problems of controlling and motivating robots to act intelligently. Projects and homeworks will focus on programming both real and simulated robots to execute tasks and to explore and interact with their environment.
Look over the course syllabus for more information.
The topics below are subject to change. As we move through the course, I will update the list to reflect the new schedule, readings, and assignments.
| Week | Dates | Topics | Readings | Labs & HW |
| 1 | Sep 4, Sep 6 |
Introduction
|
Syllabus Notes (Ma) Notes (Sullivan) |
Homework 1 |
| 2 | Sep 11, Sep 13 |
Robot motion basics, cont'd.
Perception & action
|
Braitenberg Aiken Notes (Bailey) |
Worksheet 1 Vehicle sim Lab 1a Starter code |
| 3 | Sep 18, Sep 20 |
Sensors
Actuators
|
Sensors Motors Notes (Aaron) Notes (Abel) |
Homework 2 Lab 1b Starter code |
| 4 | Sep 25, Sep 27 |
Kinematics & dynamics
|
Notes (Shaban) Notes (Nahmias) |
Worksheet 2
Tricycle diagram |
| 5 | Oct 2, Oct 4 |
Kinematics & dynamics continued
|
Notes (Cheney) |
|
| 6 | Oct 9, Oct 11 |
Control
|
Notes (Boutelle) Notes (Zhai) |
Homework 3 Lab 2 handout Lab 2 starter code |
| FALL BREAK | ||||
| 7 | Oct 23, Oct 25 |
Control, continued
|
Notes (Hwang) Notes (Ramirez) |
|
| 8 | Oct 30, Nov 1 |
Navigation
|
Notes (Spagnolo) |
Worksheet 3 |
| 9 | Nov 6, Nov 8 |
Uncertainty
|
Notes (Martin) |
Homework 4 Bayes filter demo (MATLAB) |
| 10 | Nov 13, Nov 15 |
Localization
|
Notes (Khaselev) |
Lab 3 handout Final project |
| 11 | Nov 20 |
Kalman filters
|
Notes (Welkie) |
|
| 12 | Nov 27, Nov 29 |
Mapping
|
Notes (Zhai) Notes (Boutelle) |
Filters code Homework 5 |
| 13 | Dec 4, Dec 6 |
Student presentations |
||
| 14 | Dec 11 |
Student presentations |
||
| FINAL EXAM - date and time TBA | ||||