Course Syllabus

COMPSCI 189: Autonomous Robot Systems

Spring 2019, Fridays 9-11:45am, Pierce 301

Course Schedule: See below for all problem set due dates and lecture/lab topics. For overall course description, see the homepage.

Reading: All readings assigned will be available online via Piazza; [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. 

Read Course Policies page for more details on grading, attendance, collaboration policy and other common questions. 

Go to Lectures to see slides from Lectures, Office Hours, and Robot manuals.


Week Date Topic Reading Class Time I Class Time II Upcoming
1 Feb1 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 Feb8 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 Feb15 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 Feb22 Autonomy2 PRR: Chapters 7 and 12 Lecture Topic: The Basics of Autonomy Continued (Vision and PID)  Demo Time: Pset 2 Wandering Demonstrations

Pset 3 part (a) due next week: A Personal Follower Robot

5 Mar1 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: Using ARTAGs.

Pset 3 part (b) due next week: A Personal Follower Robot 
6 Mar8 Navigation1

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


**ROOM CHANGE: Pierce 213**

Navigation2 Further reading: See Kalman Filter notes posted on Piazza, Murphy 2000 chapter 11 Lecture Topic: Robot Navigation (localization) Lab 4: Robot localization with EKF package  
  Mar22   SPRING BREAK (18-22, no class)    
8 Mar29 Navigation3 Murphy 2000 chapter 11, for SLAM see online tutorials: SLAM for dummies and Essential Algorithms.

Lecture Topic: Robot Navigation (mapping)



Demo Time: Lab Safety Training Pset 4 part (a) due next week: A Robot Navigator
9 Apr5 Robots Ethics with Dr. Kate Vrendeburgh Lecture Topic: Robot Applications and the Ethics of Automation Demo Time: Pset 4 (a) demonstration

Pset 4 part (b) due next week: A Robot Navigator


10 Apr12 Applications1 Mark Petersen Lecture Topic: Humanoid Robots and the Darpa Grand Challenge Demo Time: Pset 4 (b) demonstration
11 Apr19 Applications2 with Dr. HaeWon Park (MIT) Lecture Topic: Human Robot Interaction and Learning Final Project (a): Demonstrate Parking  
12 Apr26 Applications3 Lecture Topic: Swarm Intelligence and Robotics Final Project (b): Per-Team Progress meetings  
May6 (monday) Final Demo! Final Project: Final Demonstration (Timing TBD)  



Final Paper & SEAS Design Fair (optional)

Final Project: Final Paper due midnight    


Course Summary:

Date Details Due