16-311 Course Overview

The following course outline is tentative. Time allotted to some topics may be modified during the semester.

No student may record or tape any classroom activity without the express written consent of Howie Choset. If a student has a disability and needs to record or tape classroom activities, the student should contact the Office of Disability Resources to request an appropriate accommodation.


This schedule is tentative from Spring 2014. It will be updated as we go through the semester.
Week Day Topics Assignments
Week 1 Mon 1/11
Course Overview, Logistics
Waitlist students talk to Dr. Choset
Class robot pictures
HW0: C Programming
Tue 1/12
Assign Teams
Rube Goldberg Overview
Rube Goldberg (Lab1)
Wed 1/13
Computer Vision Part I HW1: Vision and Robots
Week 2
Mon 1/18
Tue 1/19
Demo Lab 1
Location: REL

HW0 due at beginning of class
Lab 1 demo due
Wed 1/20
Recap Lab 1
Computer Vision Part II
HW2: Vision Programs (Lab 2(ppt))
Week 3 Mon 1/25
Controls Part I
Tue 1/26
Hand out Lego Kits(mandatory)
Wed 1/27
RobotC & the NXT kits
HW1 due at beginning of class
Lab 2 due at beginning of class
HW3: Dead Reckoning (Lab 3)
Week 4 Mon 2/1
Controls Part II
Moore's Law
HW2 due at beginning of class
Tue 2/2
Demo Lab 3
Location: REL
Lab 3 demo due
Wed 2/3
Motion Planning Part I
HW4: Self-Balancing Robot
(Lab 4)
Week 5 Mon 2/8
Guest Lecturer David Wettergreen HW3 due at beginning of class
Tue 2/9
Demo Lab 4 Lab 4 demo due
Wed 2/10
Motion Planning Part II
HW5: Motion Planning (Lab 5)
Week 6 Mon 2/15
Graph Search Part I
HW4 due at beginning of class
Tue 2/16
Demo Lab 5 Lab 5 demo due
Wed 2/17
Graph Search Part II
Localization Part I
HW6: Sensors (Lab 6)
Week 7 Mon 2/22
Localization Part II HW5 due at beginning of class
Tue 2/23
Demo Lab 6 Lab 6 demo due
Wed 2/24
Human-Robot Interaction Part I
Guest lecturer Aaron Steinfield
Old Exams
HW6 due at beginning of class
Week 8 Mon 2/29
Bring an 8 1/2 by 11 cheat sheet (both sides).
Tue 3/1
Hand back midterm
Midterm Review
Wed 3/2
Hand out USAR Project Olympus Talk HW7/8/9: USAR (Lab 7)
(due Mar 17, 24, 31)

Spring Break

Week 9 Mon 3/14
Tue 3/15
NO CLASS (USAR Preparation ) HW7 (Design Proposal) due on gradescope
Wed 3/16
Evaluate Design Proposals (Groups) --
Week 10 Mon 3/21
USAR Open Lab Hours (no class) --
Tue 3/22
USAR Checkpoint Lab 7 Checkpoint Demo Due
Wed 3/23
Feedback in Class and Final Contest Prep
Coming Soon!
Midterm regrade requests due in writing (attached to exam)
Week 11 Mon 3/28
NO CLASS (USAR Preparation ) --
Tue 3/29
USAR Demos (by appointment) Lab 7 Part 2 demo due
Wed 3/30
USAR Final Competition:
Location: REL (NSH 3206)
s Time: 10:30-12:30
Lab 7 Part 3 demo due
Week 12 Mon 4/4
USAR Wrapup
Kinematics 1
Coordinate Transformations Intro

Tue 4/5
Lab 8 Presentation
Kinematics 2
HW10: Wheel Free (Lab 8)
Wed 4/6
Inverse Kinematics 1 -- 
Week 13 Mon 4/11
Inverse Kinematics 2 HW11: Arm Kinematics (Lab 9)
Meet Final Contest Team

HW10 due at beginning of class
Tue 4/12
Demo Lab 8 Lab 8 demo due
Wed 4/13
Non-Holonomic Path Planning 1
Week 14 Mon 4/18
Non-Holonomic Path Planning 2 HW12: Final Contest (Lab 10)
HW11 due at beginning of class
Tue 4/19
Demo Lab 9 Lab 9 demo due
Wed 4/20
Guest Speaker: TBA
Week 15 Mon 4/25
Final Review HW12 due at beginning of class
Tue 4/26
No class
Wed 4/27
Demo Lab 10 (Final Contest) Lab 10 demo due
Week 16-17 Monday 5/9
5:30pm - 8:30pm
Location TBA
Bring an 8 1/2 by 11 cheat sheet (both sides).

Last updated 1/10/2016 by Trevor Decker
(c) 1999-2016: Howie Choset, Carnegie Mellon