There will be three types of assignments in this course:
The Warm-Up Project Assignment
The goal of the warm-up project assignment is to provide you with
the opportunity to familiarize yourself with robot data and
(optionally) the robot hardware, to the extent necessary for the
You are given data sets of robot sensor and motion data, along
with a map of a building. You task will be to implement a probabilistic
localization algorithm of your choice that enables you to localize
the robot relative to the map. The starting position of the robot is
unknown; thus, you have to solve a global localization problem.
Optionally, you are encouraged to implement your localization
algorithm on a physical robot, so that we can all enjoy watching your
robot localize itself in Wean Hall.
What to turn in:
How you turn it in:
- Your localization results: this could be in form of images with a path superimposed, and AVI that shows the sample set emerging, or some other graphical way to illustrate the result of the localization. Preferred: A simple image per data set (map and path). How to do this? There are very simple file formats like PPM-ASCII where you can simply dump all pixels into a file. Here is an example of the map (without path)
A report of your findings: What you did, what worked, what didn't work, and what opportunities you see for possible projects if you were to use this data set for your class project. The report may contain the images
with the results. As a rule of thumb, 4 pages might be the right length (without figures).
- Preferrably by emailing it to firstname.lastname@example.org. Make sure the names of all contributors are contained in the document.
The instructor prefers to run this course paper-free, that is, all
assignments should be turned in electronically via email to email@example.com