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 



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




  Mar20   SPRING BREAK (no class)    
Mar 23-27 REMOTE TEACHING PREP VM-Simulator setup  Follow Piazza for details


10-11:45 EST via ZOOM


Zoom link will be posted on Piazza.

Further reading: Kalman Filter notes posted on Piazza, Murphy 2000 chapter 11.

Lecture Topic: Robot Navigation (localization)



All assignments TBD from this point on



10-11:45 EST via ZOOM


Further reading: Murphy 2000 chapter 11, Online tutorials: SLAM for dummies and Essential Algorithms.


Lecture Topic: Robot Navigation (mapping)






10-11:45 EST via ZOOM

Robot EthiCS Embedded EthiCS, joint with Philosophy Department

Lecture Topic: Ethics, Robots, and Automated War



10-11:45 EST via ZOOM

From Mobility to Manipulation Guest Lecture: Mark Petersen (MIT) Lecture Topic: Robot Manipulators


10-11:45 EST via ZOOM

Multi-Robot Systems Lecture Topic: Multi-Robot Systems and Swarm Robotics  






Course Summary:

Date Details Due