Course Syllabus
COMPSCI 189: Autonomous Robot Systems
Spring 2020, 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 | Jan31 | Introduction | Lecture topic: Introduction to AI Robotics and CS189. | Assignment: Fill out the google lottery form by midnight | ||
| 1.5 | Feb 5 (wed) |
Setup (mandatory) |
7:30-9pm in Pierce 301, half hour slot | Lab 0: TFs will setup each team with robot GitHub and ssh. | ||
| 2 | Feb7 | 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 | Feb14 | 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 | Feb21 | 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 | Feb28 | 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 |
Mar6 |
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 | |
| 7 |
Mar13 |
CANCELLED |
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| Mar20 | SPRING BREAK (no class) | |||||
| Mar 23-27 | REMOTE TEACHING PREP | VM-Simulator setup | Follow Piazza for details | |||
| 8 |
Mar27 10-11:45 EST via ZOOM |
Navigation2 Zoom link will be posted on Piazza. |
Further reading: Kalman Filter notes posted on Piazza, Murphy 2000 chapter 11. |
Lecture Topic: Robot Navigation (localization)
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All assignments TBD from this point on |
| 9 |
Apr3 10-11:45 EST via ZOOM |
Navigation3 |
Further reading: Murphy 2000 chapter 11, Online tutorials: SLAM for dummies and Essential Algorithms.
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Lecture Topic: Robot Navigation (mapping) |
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| 10 |
Apr10 10-11:45 EST via ZOOM |
Robot EthiCS | Embedded EthiCS, joint with Philosophy Department |
Lecture Topic: Ethics, Robots, and Automated War |
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| 11 |
Apr17 10-11:45 EST via ZOOM |
From Mobility to Manipulation | Guest Lecture: Mark Petersen (MIT) | Lecture Topic: Robot Manipulators | ||
| 12 |
Apr24 10-11:45 EST via ZOOM |
Multi-Robot Systems | Lecture Topic: Multi-Robot Systems and Swarm Robotics | |||
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Course Summary:
| Date | Details | Due |
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