16-311 Spring 2007 Course Overview

The following course outline is tentative. Time allotted to some topics may be modified during the semester. Blue background denotes current week.

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.

Material Outline

  • Introduction to Robotics (pdf)

  • Vision (pdf)
    • Projection
    • Convolution
    • Edge Detection
    • Image Interpretation and ENS (ppt) (pdf)

  • Motion Planning (pdf)
    • Potential Functions
    • Roadmaps
    • Cell Decompositions

  • Sensing and Sensors (pdf)

  • Inertial Navigation Systems (pdf) (Al Kelly)

  • Mobility - (mobile robot platforms) (pdf)

  • Forward and Inverse Kinematics (pdf)
    • Transformation Matrices
    • DH Transformations

  • Inverse Kinematics
    • Geometric methods
    • Algebraic methods

  • Non-holonomic constraints (pdf)

Technical Material

Schedule

Week Day Topics Assignments
Week 1 Mon 1/15
 
Course Overview, Logistics
Waitlist students talk to Dr. Choset
HW1: C Programming
(due Tue, Jan 23)
Tue 1/16
 
Intro to C Programming I --
Wed 1/17
 
Assign Teams/Attendance
Computer Vision
HW2: Rube Goldberg (Lab 1)
(due Thurs, Jan 25)
Week 2
Mon 1/22
 
Vision
--
Tue 1/23
 
C Continued
HW1 due at beginning of class
Wed 1/24
 
Demo Lab 1
Location: NSH 3305
HW3: Vision Programs (Lab 2)
(due Tue, Jan 30)
Thu 1/25
 
-- HW2 due 11:59PM electronically
Week 3 Mon 1/29
 
Vision Problems
Image Interpretation and ENS
Introduction to the Handyboard
--
Tue 1/30
 
Hand out Lego Kits (mandatory)
Location: REL
HW3 due by 3:30 PM electronically
Wed 1/31
 
Lego Controls & The Art of Lego HW4: Braitenberg Vehicles (Lab 3)
(due Tue, Feb 6)
Week 4 Mon 2/5
 
Motion Planning: Bug Algorithm, Potential Functions --
Tue 2/6
 
Demo Lab 3
Location: REL
HW4 due by 3:30 PM electronically
Wed 2/7
 
Configuration Space (Degrees of Freedom) HW5 :Low-Level Base (Lab 4)
(due Wed, Feb 14)
Week 5 Mon 2/12
 
Motion Planning: Road Maps, Configuration Spaces --
Tue 2/13
 
Demo Lab 4 --
Wed 2/14
 
Motion Planning: Roadmaps, continued.
Cell Decompositions and Coverage
HW6: Motion Planning (Lab 5)
(due Wed, Feb 21)
HW5 due at beginning of class
Week 6 Mon 2/19
 
Sensing and Sensors
Professor Warwick
--
Tue 2/20
 
No class: Prep for Motion Planning  
Wed 2/21
 
Demo Lab 5
Assign Lab 6 in parallel
HW6 due at beginning of class
HW7: Sensors (Lab 6)
(due Tue, Mar 6)
Week 7 Mon 2/26
 
Midterm Review --
Tue 2/27
 
NO CLASS --
Wed 2/28
 
-- MIDTERM -- --
Week 8 Mon 3/5
 
Inertial Navigation Systems
Explain USAR Project
HW8/9/10: USAR (Lab 7)
(due Mar 20, 27; Apr 3, 4)
Tue 3/6
 
DEMO Lab 6 --
Wed 3/7
 
Go over midterm --  

Spring Break

Week 9 Mon 3/19
 
Locomotion --
Tue 3/20
 
Matrix Transformations HW8 (Design Proposal) due in class
Wed 3/21
 
3D Example
Evaluate Design Proposals (Groups)
 
Week 10 Mon 3/26
 
USAR Open Lab Hours
USAR Prototype Evaluations
--
Tue 3/27
 
Open Lab Hours
USAR Prototype Evaluations
HW9 (Lab 7) due at 8pm
Wed 3/28
 
USAR Prototype Selection
Feedback in Class and Final Contest Prep
--
Week 11 Mon 4/2
 
NO CLASS (USAR Preparation ) --
Tue 4/3
 
USAR Demos (by appointment) HW10 due
Wed 4/4
 
USAR Final Competition:
Location: REL (NSH 3206)
Time: 10:30-12:30
--
Week 12 Mon 4/9
 
USAR Wrapup
Forward Kinematics Denavit & Hartenberg
--
Tue 4/10
 
George Kantor Guest Speaker HW11: Forward Kinematics (Lab 8)
(due Wed, Apr 18)
Wed 4/11
 
Inverse Kinematics --
Week 13 Mon 4/16
 
Inverse Kinematics Meet Final Contest Team
Tue 4/17
 
Demo Lab 8 HW12: Inverse Kinematics (Lab 9)
(due Wed, Apr 25th)
Wed 4/18
 
Space Robots HW11 due at beginning of class
Week 14 Mon 4/23
 
Non-Holonomic Path Planning --
Tue 4/24
 
Non-holonomic Path Planning (Part 2) HW13: Final Contest (Lab 10)
(due Wed, May 2)
Wed 4/25
 
Demo Lab 9 HW12 due at beginning of class
Week 15 Mon 4/30
 
Final Review --
Tue 5/1
 
Review for Final
--
Wed 5/2
 
Demo Lab 10 (Final Contest) HW13 due at beginning of class
Finals Week Mon, 5/7
 
FINAL EXAM
Time: 8:30-11:30 AM
Location: TBA
--

Last updated 1/10/07 by Kate Killfoile
(c) 1999-2007: Howie Choset, Carnegie Mellon