16-311 Introduction to Robotics
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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 1/13
 
Course Overview, Logistics (mandatory)
Survey
Rube Goldberg Overview
Homework 0 (C, MATLAB,
HTML, PDF) assigned

Lab 1 (Rube Goldberg Machine)
assigned

Tue 1/14
 
Computer Vision Part I
Divide into teams for Lab 1 (mandatory)
Homework 1 (Vision) assigned
Wed 1/15
 
Computer Vision Part II
Week 2
Mon 1/20
 
Martin Luther King Jr. Day - No Class
Tue 1/21
 
Demo Lab 1
Location: NSH Atrium

Homework 0 due at 9:00 PM
(note, this homework is due on Tuesday)

Lab 1 demo due
Return to Atrium for final exhibit
Wed 1/22
 
Recap Lab 1
Neural Networks
Convolutional Neural Networks

Homework 1 due at 9:00 PM
Homework 2 (Vision) assigned
Lab 2 (Vision) assigned
Week 3 Mon 1/27
 
Controls Part I
Moore's Law
Controls Part II
Tue 1/28
 
BrickPi for Intro to Robotics Presentation
BrickPi for Intro to Robotics Word Document
BrickPi API Reference
Hand out Root Kits (mandatory), bring Team Contract
Lab 2 due at 4:30 PM
Wed 1/29
 
Guest Spearker: Prof David Held on Learning for Control
Homework 2 due at 9:00 PM
Homework 3 (Controls) assigned
Lab 3 (Dead Reckoning) assigned
Week 4 Mon 2/3
 
Reinforcement Learning
Tue 2/4
 
Demo Lab 3
Location: REL
Lab 3 demo due
Wed 2/5
 
Guest Speaker: Prof Dimi Apostolopoulos on Systems Engineering
Homework 3 due at 9:00 PM
Homework 4 (Planning) assigned
Lab 4 (Self-balancing Robot) assigned
Week 5 Mon 2/10
 
Motion Planning Part I
Tue 2/11
 
Demo Lab 4 Lab 4 demo due
Wed 2/12
 
Motion Planning Part II
Homework 4 due at 9:00 PM
Homework 5 (Planning) assigned
Lab 5 (Path Planning) assigned
Week 6 Mon 2/17
 
Graph Search Part I
Tue 2/18
 
Demo Lab 5 Lab 5 demo due
Wed 2/19
 
Graph Search Part II
Localization Part I
Homework 5 due at 9:00 PM
Homework 6 (Localization) assigned
Lab 6 (Localization) assigned
Week 7 Mon 2/24
 
Localization Part II
Tue 2/25
 
Demo Lab 6 Lab 6 demo due
Wed 2/26
 
Exam Review
Old Exams
Homework 6 due at 9:00 PM
Lab 7 (USAR Proposal) assigned
Week 8 Mon 3/2
 
MIDTERM
Tue 3/3
 
Hand back midterm and review
Lab 7: USAR Proposals due at 4:30 PM
Wed 3/4
 
Evaluate Design Proposals (Groups) Lab 7: SE Checkpoint Assigned

Spring Break

Week 9 Mon 3/16
 
NO CLASS
Tues 3/17

NO CLASS Midterm regrade requests due to head TA
Wed 3/18
 
Forward Kinematics [Video]
Homework 8 (Forward Kinematics) assigned
 
Week 10 Mon 3/23
 
Inverse Kinematics Part 1 [Video]
Tue 3/24
 
Wed 3/25
 
Inverse Kinematics Part 2 [Video] Homework 8 Due at 9:00 PM
Arm Lab Part 1 Assigned
Homework 9 (Inverse Kinematics) assigned
Week 11 Mon 3/30
 
Non-Holonomic Path Planning 1 [Video]
Tue 3/31
 
Arm Lab Part 1 demo due 4:30 PM
Wed 4/1
 
Non-Holonomic Path Planning 2 [Video]
Homework 9 due at 9:00 PM
Arm Lab Part 2 Assigned
Homework 10 (Non-Holonomic Constraints) assigned
Week 12 Mon 4/6
 
Non-Holonomic Path Planning 3 [Video]
Locomotion [Video]
Tue 4/7
 
Arm Lab Part 2 demo due at 4:30 PM
Wed 4/8
 
Legged Robotics [Video]
Homework 10 due at 9:00 PM
Legged Locomotion Lab assigned
Locomotion Homework assigned
Week 13 Mon 4/13
 
Guest Speaker: Aaron Steinfeld on HRI [Video]
Tue 4/14
 
Legged Robotics Lab Due at 4:30 PM
Wed 4/15
 
Guest Speaker: Dimi Apostolopoulos on System Design 2 [Video] Locomotion homework due at 9:00 PM
Remote Robotic Simulation Lab assigned
User Interface and Vehicle Design Homework assigned
Week 14 Mon 4/20
 
Motors, Communication Protocols, and Sensors [Video]
Helpful Robot Proposal Lab assigned
(due Fri May 1st 4:30 PM)

Tue 4/21
 
Teleop lab due 4:30 PM
Wed 4/22
 
Microcontrollers and Robotics Roundtable [Video]
Part Selection Homework due at 9:00 PM
Part Selection Homework assigned
Week 15 Mon 4/27
 
Batteries, Rapid Prototyping, and Pub/Sub Structure [Video]
Tue 4/28
 
Wed 4/29
 
Final Review [Video] Part Selection Homework due at 9:00 PM
Week 16-17 Final Exam Date: Monday, May 4th
Final Exam Time: 5:30 PM EST
FINAL EXAM
Final Exam Location: Zoom
You may use one 8 1/2 by 11 cheat sheet (both sides).
Old Exams

Last updated 4/27/2020 by Hannah Lyness
(c) 1999-2020: Howie Choset, Carnegie Mellon