COMPSCI 189: Autonomous Robot Systems
Spring 2018, Fridays 1-4pm, Pierce 301
Course Schedule: See below for all problem set due dates and lecture/lab topics. For overall course description, see the homepage.
Optional TextBooks: [PRR] Programming Robots with ROS, Quigley et al, O'Rielly Publishers. [Murphy 2000] Introduction to AI Robotics”, Robin Murphy, 2000. [Seigwart 2004] Introduction to Autonomous Mobile Robots”, Seigwart et al, 2004. See Piazza for details, and Syllabus below for weekly reading.
Read Course Policies page for more details on grading, attendance, collaboration policy and other common questions.
Go to Modules to see slides from Lectures, Office Hours, and Robot manuals.
|Week||Date||Topic||Reading||Class Time I||Class Time II||Upcoming|
|1||Jan26||Introduction||Lecture topic: Introduction to AI Robotics and CS189, and this year's project: "Robots that Roam the Halls".||Assignment: Fill out the google lottery form by midnight|
|2||Feb2||Autonomy1||PRR: Chapter 1-3 (up to "Latched Topics")||Lecture Topic: The Basics of Autonomy (Motion and Vision)||Lab 1: Intro to Robot (Motion)||Pset 1 due next week: Robot Roomba|
|3||Feb9||Fun with Robots||PRR: Chapter 6 and 7||Demo Time: Pset 1 Demonstrations (no lecture today)||Lab 2: Intro to Robot Vision (Depth and Color)||Pset 2 due next week: Safe Wandering in the Classroom|
|4||Feb16||Autonomy2||PRR: Chapters 7 and 12||Lecture Topic: The Basics of Autonomy Continued (Vision and PID)||Demo Time: Pset 2 Demonstrations||
Pset 3 part (a) due next week: A Personal Follower Robot
|5||Feb23||Autonomy3||Further Reading: Murphy 2000, chap 1 (history), 2, 4, 7 (architectures)||Lecture Topic: Programming Complex Behaviors (reactive, deliberative, FSM)||
Demo Time: Pset 3 part (a) demo
Lab 3: More Robot Interactions.
|Pset 3 part (b) due next week: A Personal Follower Robot|
Further reading: Murphy 2000, chap 9 and 10; Seigwart 2004, chap 5.5 and 6.1-6.2
|Lecture Topic: Robot Navigation (path planning)||Demo Time: Pset 3 Follower Demonstration||Pset 4 part (a) due next week: Scavenger Hunt|
|7||Mar9||Navigation2||Further reading: See Kalman Filter notes posted on Piazza, Murphy 2000 chapter 11||Lecture Topic: Robot Navigation (localization)||Demo Time: Pset 4 part (a) demo||Pset 4 part (b) due friday after spring break|
|Mar16||SPRING BREAK (no class)|
Mandatory: Lab Safety Training
|Demo Time: Pset 4 Scavenger Hunt!!||nothing due next week|
|9||Mar30||Navigation3||Murphy 2000 chapter 11, for SLAM see online tutorials: SLAM for dummies and Essential Algorithms.||Lecture Topic: Robot Navigation (mapping)||Lab 4: Robot localization with EKF package||
Pset 5 due next week: A Robot Navigator
|10||Apr6||Applications1||Lecture Topic: Robot Applications and Ethics||Demo Time: Pset 5 demonstration||Start thinking about Final Project|
|11||Apr13||Applications2||Lecture Topic: Humanoid Robots and the DARPA challenge||Final Project (a): Progress meetings|
|12||Apr20||Applications3||Lecture Topic: Swarm Robotics (Final Lecture)||Final Project (b): Progress meetings|
|13||Apr27||Practice Day||No class, but class room reserved for test demonstrations||(optional, but recommended)|
|14||Apr30 (mon)||Final Demo!||Final Project (d): Final Demonstration||(During reading period, time TBD)|
|Final Paper||Final Project (e): Paper due|
The syllabus page shows a table-oriented view of the course schedule, and the basics of course grading. You can add any other comments, notes, or thoughts you have about the course structure, course policies or anything else.
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