The course schedule is subject to adjustment
The lecture notes may be updated before class.
Week 2
Aug 25: Introduction, Review - Coordinate systems and rotation matrix Lec_1
Aug 27: Review- Homogeneous Transformation Lec_2, (Python Supplement slides, code)
Week 3
Sept 03: Labor's day Recess
Sept 05: Forward Kinematics for Differential Driving Vehicle (SNS 3.2.1, 3.2.2)(HW0 Due)
Week 4 Module - Proportional Control and Point Tracking
Sept 08: Configuration Space, Introduction to P control Lec_4 SNS 3.6, (HW1 Due)
Sept 10: Proportional control
Week 5
Sept 15: Lab Introduction and Discussion, last group effort, bring your computer!
Sept 17: Locomotion and wheel constraints SNS 3.2 Lec_6
Week 6
Sept 22: Mobile robot maneuverability, holonomic robot, SNS3.3, 3.4
Sept 24: Lab Discussion 2, bring your computer!
Week 7 Module - Mapping
Oct 29: Search Algorithm, costmap and bushfire algorithm Lec_9
Oct 1: Search Algorithm, costmap and bushfire algorithm (Module 1 due!)
Week 8
Oct 6: Lab Discussion 3, Bring your computer!
Oct 8: SLAM 101, Error model, SNS 5.2, SNS 4.1.3.2 Lec_11
Week 9 Module - A* search
Oct 13: Dijikstra and A* algorithm - Part 1 SNS 6.3 Lec_12
Oct 15: Dijisktra and A* algorithm - Part 2 SNS 6.3 (Module 2 Due!)
Week 10
Oct 20: Lab Discussion 4, Bring your computer!
Oct 22: Project Kickoff Lec_Project, other planning and obstacle avoidance (SN6.4) Lec_14
Week 11 - Gap Module: something about probability
Oct 27: Bayes Rule SNS5.6 Lec_15
Oct 29: Probabilistic map-based localization (Video) SNS 5.6
Week 12 Module - Probabilistic Roadmaps
Nov 03: Single query PRM Lec_17 (Module 3 Due)
Nov 05: Lab Discussion 5, Bring your computer!
Week 13
Nov 10: Rapid Exploring Dense Tree, K-d Trees, Multiple query PRM Lec_18_19, LaValle Sec 5.5-5.6 (HW4 Due)
Nov 12: Rapid Exploring Dense Tree, K-d Trees, Multiple query PRM
Week 14
Nov 17: Seminar: Dynamic window approach Lec_20 FTB paper (Module 4 Due)
Nov 19: Seminar: Artificial potential field Lec_21, Khatib paper
Week 15
Nov 24 Lab Discussion 6, Summary Q&A
Nov 26 (No Lecture)
Week 16
Dec 01 Final Presentation Part 1 and Competition!
Dec 03 Final Presentation Part 2 and Competition!