16-311 Introduction to Robotics |
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Main Schedule Homework Labs Links |
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. Schedule |
Week | Day | Topics | Assignments |
Week 1 |
Mon 1/15 |
Martin Luther King Jr. Day - No Class |
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Tue 1/16 |
Course Overview, Logistics Waitlist students talk to Dr. Choset Survey Class robot pictures Assign Teams Rube Goldberg Overview |
Homework 0 (C, MATLAB, HTML, PDF) assigned Lab 1 (Rube Goldberg Machine) assigned |
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Wed 1/17 |
Computer Vision Part I | Homework 1 (Vision) assigned | |
Week 2 |
Mon 1/22 |
Computer Vision Part II |
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Tue 1/23 |
Demo Lab 1 Location: REL |
Homework 0 due at 10:30 AM (note, this homework is due on Tuesday) Lab 1 demo due |
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Wed 1/24 |
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Homework 1 due at beginning of class Homework 2 (Vision) assigned Lab 2 (Vision) assigned |
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Week 3 |
Mon 1/29 |
Controls Part I | |
Tue 1/30 |
Hand out Lego Kits (mandatory) Bring Team Contract |
Lab 2 due at 4:30 PM |
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Wed 1/31 |
RobotC & the NXT kits ROBOTC Getting Started Guide |
Homework 2 due at beginning of class Homework 3 (Controls) assigned Lab 3 (Dead Reckoning) assigned |
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Week 4 |
Mon 2/5 |
Controls Part II Moore's Law |
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Tue 2/6 |
Demo Lab 3 Location: REL |
Lab 3 demo due |
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Wed 2/7 |
Guest Speaker: George Kantor and Agricultural Robots |
Homework 3 due at beginning of class Homework 4 (Planning) assigned Lab 4 (Self-balancing Robot) assigned |
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Week 5 |
Mon 2/12 |
Motion Planning Part I |
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Tue 2/13 |
Demo Lab 4 |
Lab 4 demo due |
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Wed 2/14 |
Motion Planning Part II |
Homework 4 due at beginning of class Homework 5 (Planning) assigned Lab 5 (Path Planning) assigned |
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Week 6 |
Mon 2/19 |
Graph Search Part I |
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Tue 2/20 |
Demo Lab 5 |
Lab 5 demo due |
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Wed 2/21 |
Graph Search Part II Localization Part I |
Homework 5 due at beginning of class Homework 6(Localization) assigned Lab 6 (Localization) assigned |
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Week 7 |
Mon 2/26 |
Localization Part II | |
Tue 2/27 |
Demo Lab 6 |
Lab 6 demo due |
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Wed 2/28 |
Exam Review Old Exams |
Homework 6 due at beginning of class Lab 7/Homework 7 Proposal Assigned | |
Week 8 |
Mon 3/5 |
MIDTERM Saturday Midterm Review Slides |
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Tue 3/6 |
Hand back midterm and review |
Lab 7/Homework 7: USAR Proposals due at 4:30 PM |
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Wed 3/7 |
Evaluate Design Proposals (Groups) | ||
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Week 9 |
Mon 3/19 |
Guest Speaker Ralph Hollis Ballbot |
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Tues 3/20 |
Optional Arduino bootcamp (NSH 1305 4:30 PM) Presentation |
Midterm regrade requests due in person to a TA | |
Wed 3/21 |
Guest lecturer: Jodi Forlizzi on Human-Robot Interaction |
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Week 10 |
Mon 3/26 |
USAR Open Lab Hours (no class) | |
Tue 3/27 |
USAR Checkpoint | Lab 7/Homework 8: Checkpoint demo due | |
Wed 3/28 |
Feedback in Class and Final Contest Prep |
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Week 11 |
Mon 4/2 |
NO CLASS (USAR Preparation) | |
Tue 4/3 |
USAR Demos |
Lab 7/Homework 9: USAR Contest Day 1 demo due |
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Wed 4/4 |
USAR Final Competition: Location: REL (NSH 3206) Time: 10:30-12:00 |
Lab 7/Homework 9: USAR Contest Day 2 demo due |
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Week 12 |
Mon 4/9 |
USAR Wrapup Locomotion Four Bar Mechanisms |
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Tue 4/10 |
NREC Guest Spearker Hannah Lyness on Terramechanics |
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Wed 4/11 |
Kinematics |
Lab 8 (Wheel-Free) assigned Homework 10 (Forward Kinematics) assigned |
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Week 13 |
Mon 4/16 |
Inverse Kinematics |
Meet Final Contest Team |
Tue 4/17 |
Demo Lab 8 |
Lab 8 demo due |
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Wed 4/18 |
Give out Lab 9 Lab 10 TAs meet (Mandatory for students that want to TA Lab 10) |
Homework 11(Inverse Kinematics) assigned Lab 9 (Inverse Kinematics) assigned Homework 10 due at beginning of class |
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Week 14 |
Mon 4/23 |
Non-Holonomic Path Planning 1 Hannah's Non-Holonomic Slides |
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Tue 4/24 |
Demo Lab 9 |
Lab 9 demo due |
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Wed 4/25 |
Non-Holonomic Path Planning 2 Hannah's Non-Holonomic Slides |
Homework 12 (Non-Holonomic Constraints) assigned Lab 10 (Student-Defined Lab) assigned Homework 11 due at beginning of class |
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Week 15 |
Mon 4/30 |
Finish discussing Non-holonomic Path Planning Guest Spearker Arun Srivatsan on Pose Estimation for Medical Robots Final Review |
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Tue 5/1 |
Demo Lab 10 |
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Wed 5/3 |
Demo Lab 10 (Final Contest) |
Lab 10 demo due |
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Week 16-17 |
Final Exam Date: Friday, May 11th 2018 Final Exam Time: 10:00 AM |
FINAL EXAM Final Exam Location Bring an 8 1/2 by 11 cheat sheet (both sides). Final Review Slides |
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Last updated 4/17/2018 by Hannah Lyness (c) 1999-2018: Howie Choset, Carnegie Mellon |