16-311 Introduction to Robotics|
16-311 Introduction to Robotics |
|||
| 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 1/14 |
Course Overview, Logistics (mandatory) Rube Goldberg Overview |
Homework 0 (C, MATLAB, HTML, PDF) assigned Lab 1 (Rube Goldberg Machine) assigned |
|
Tue 1/15 |
Computer Vision Part I Divide into teams for Lab 1 (mandatory) |
Homework 1 (Vision) assigned | |
|
Wed 1/16 |
Computer Vision Part II |
||
|
Week 2 |
Mon 1/21 |
Martin Luther King Jr. Day - No Class |
|
|
Tue 1/22 |
Demo Lab 1 Location: NSH Atrium |
Homework 0 due at 10:30 AM (note, this homework is due on Tuesday) Lab 1 demo due Return to Atrium at 7:30 for final exhibit |
|
|
Wed 1/23 |
|
Homework 1 due at beginning of class Homework 2 (Vision) assigned Lab 2 (Vision) assigned |
|
| Week 3 |
Mon 1/28 |
Controls Part I |
|
|
Tue 1/29 |
Controls Part II RobotC & the NXT kits ROBOTC Getting Started Guide Hand out Lego Kits (mandatory) Bring Team Contract |
Lab 2 due at 4:30 PM |
|
|
Wed 1/30 |
Class cancelled due to cold |
Homework 2 due at beginning of class Homework 3 (Controls) assigned Lab 3 (Dead Reckoning) assigned |
|
| Week 4 |
Mon 2/4 |
Reinforcement Learning |
|
|
Tue 2/5 |
Demo Lab 3 Location: REL |
Lab 3 demo due |
|
|
Wed 2/6 |
Guest Speaker: Oliver Kroemer (Learning for Manipulation) |
Homework 3 due at beginning of class Homework 4 (Planning) assigned Lab 4 (Self-balancing Robot) assigned |
|
| Week 5 |
Mon 2/11 |
Motion Planning Part I |
|
|
Tue 2/12 |
Demo Lab 4 |
Lab 4 demo due |
|
|
Wed 2/13 |
Motion Planning Part II |
Homework 4 due at beginning of class Homework 5 (Planning) assigned Lab 5 (Path Planning) assigned |
|
| Week 6 |
Mon 2/18 |
Graph Search Part I |
|
|
Tue 2/19 |
Demo Lab 5 |
Lab 5 demo due |
|
|
Wed 2/20 |
Graph Search Part II Localization Part I |
Homework 5 due at beginning of class Homework 6 (Localization) assigned Lab 6 (Localization) assigned |
|
| Week 7 |
Mon 2/25 |
Localization Part II | |
|
Tue 2/26 |
Demo Lab 6 |
Lab 6 demo due |
|
|
Wed 2/27 |
Exam Review Old Exams |
Homework 6 due at beginning of class Lab 7 (USAR Proposal) assigned |
|
| Week 8 |
Mon 3/4 |
MIDTERM Saturday Midterm Review Slides |
|
|
Tue 3/5 |
Hand back midterm and review |
Lab 7: USAR Proposals due at 4:30 PM |
|
|
Wed 3/6 |
Evaluate Design Proposals (Groups) | ||
|
|
|||
| Week 9 |
Mon 3/18 |
Guest Speaker: David Kohanbash and Joey Wood on Sub-T |
|
|
Tues 3/19 |
Optional Arduino bootcamp (NSH 3002 6:45 PM) Presentation |
Midterm regrade requests due in person to a TA | |
|
Wed 3/20 |
Guest Speaker: Reuben Aaronson on HRI | ||
| Week 10 |
Mon 3/25 |
USAR Open Lab Hours (no class) | |
|
Tue 3/26 |
USAR Checkpoint | Lab 7: Checkpoint demo due | |
|
Wed 3/27 |
Feedback in Class and Final Contest Prep |
||
| Week 11 |
Mon 4/1 |
NO CLASS (USAR Preparation) | |
|
Tue 4/2 |
USAR Demos |
Lab 7: USAR Contest Day 1 demo due |
|
|
Wed 4/3 |
USAR Final Competition: Location: REL (NSH 3206) Time: 10:30-12:00 |
Lab 7: USAR Contest Day 2 demo due |
|
| Week 12 |
Mon 4/8 |
USAR Wrapup Locomotion Guest Spearker Hannah Lyness on Reconfigurable Wheel-Track |
|
|
Tue 4/9 |
No class | ||
|
Wed 4/10 |
Forward Kinematics |
Lab 8 (Wheel-Free) assigned Homework 10 (Forward Kinematics) assigned |
|
| Week 13 |
Mon 4/15 |
Inverse Kinematics |
Meet Final Contest Team |
|
Tue 4/16 |
Demo Lab 8 |
Lab 8 demo due |
|
|
Wed 4/17 |
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 |
|
| Week 14 |
Mon 4/22 |
Non-Holonomic Path Planning 1 Hannah's Non-Holonomic Slides |
|
|
Tue 4/23 |
Demo Lab 9 |
Lab 9 demo due |
|
|
Wed 4/24 |
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 |
|
| Week 15 |
Mon 4/29 |
Finish discussing Non-holonomic Path Planning Final Review |
|
|
Tue 4/30 |
Demo Lab 10 |
||
|
Wed 5/1 |
Demo Lab 10 (Final Contest) |
Lab 10 demo due Homework 12 due at beginning of class |
|
| Week 16-17 |
Final Exam Date: Thursday, May 9th 2019 Final Exam Time: 5:30 PM - 7:00 PM |
FINAL EXAM Final Exam Location: BH A51 Bring an 8 1/2 by 11 cheat sheet (both sides). Old Exams |
|
|
Last updated 4/17/2018 by Hannah Lyness (c) 1999-2018: Howie Choset, Carnegie Mellon |