|Title||CISC829-011 Mobile Robot Programming|
|Description||A hands-on approach to implementing mobile robot algorithms in simulation and on a group of small wheeled robots. Includes low- level motor control and reactive obstacle avoidance; high-level control including navigation, localization, and planning; vision-based sensing for tracking and mapping; and issues surrounding multi-robot cooperation.|
|When||Tuesdays and Thursdays, 3:30-4:45 pm|
|Instructor||Christopher Rasmussen, 446 Smith Hall, firstname.lastname@example.org|
|Office hours||Tuesdays and Thursdays, 11 am-12 pm (until October 15: in office; after October 15, in Smith 211)|
Programming assignments will be graded on the basis of correctness, efficiency, and originality. This is not an introductory programming class, so coding style is not critical. However, if you want partial credit for something that doesn't quite work, it needs to be well-commented and easy to follow.
For the overall course grade, a preliminary absolute mark will be assigned to each student based on the percentage of the total possible points they earn according to the standard formula: A = 90-100, B = 80-90, C = 70-80, etc., with +'s and -'s given for the upper and lower third of each range, respectively. Based on the distribution of preliminary grades for all students (i.e., "the curve"), the instructor may increase these grades monotonically to calculate final grades. This means that your final grade can't be lower than your preliminary grade, and your final grade won't be higher than that of anyone who had a higher preliminary grade.
I will try to keep you informed about your standing throughout the semester. If you have any questions about grading or expectations at any time, please feel free to ask me.
We will be using Piazza for discussion, questions, and help, both from me to you and student-to-student.
|Academic policies||Programming projects are due by midnight of the deadline day (with a grace period of a few hours afterward...after sunrise is definitely late). A late homework is a 0 without a valid prior excuse. To give you a little flexibility, you have 6 "late days" to use on homeworks to extend the deadline by one day each without penalty. No more than three late days may be used per assignment. Late days will automatically be subtracted, but as a courtesy please notify the instructor in an e-mail of your intention to use late days before the deadline.
Assignment submissions should consist of a directory containing all code (your .cpp files, makefile, etc.), any output data generated (e.g., images, movies, etc.), and an explanation of your approach, what worked and didn't work, etc. contained in a separate text or HTML file. Do not submit executables or .o files, please! The directory you submit for each assignment should be packaged by tar'ing and gzip'ing it or just zip'ing it. The resulting file should be e-mailed to the instructor (email@example.com).
Students can discuss problems with one another in general terms, but must work independently on programming assignments. This also applies to online and printed resources: you may consult them as references (as long as you cite them), but the words and source code you turn in must be yours alone. The University's policies on academic dishonesty are set forth in the student code of conduct here.
DON'T INSTALL ANYTHING BELOW THIS LINE YET
WARNING: executing the next line will overwrite some of the turtlebot changes described in lecture
|OpenNI Kinect/ASUS drivers||
Note: The blue squares in the "#" column below indicate Tuesdays.
|1||Aug. 28||Introduction||Background, course information||slides|
|2||Aug. 30||ROS/Gazebo||Installation, hello ROS, hello Gazebo||slides|
|3||Sep. 4||ROS/Gazebo||Writing simple ROS programs||HW #1 (see slides)|
|4||Sep. 6||ROS/Gazebo||Odometry, ground truth positions||slides|
|5||Sep. 11||Motion planning||Background, kinematics, PID control||slides|
|6||Sep. 13||Motion planning||Homing controllers, occupancy grid and grid-based planning||slides|
|7||Sep. 18||Motion planning||Explanation of nav code (ROS costmap_2d and navfn, trajectory following, replanning), putting moving objects in Gazebo world||HW #1 due|
|8||Sep. 20||Motion planning||Bug variants, search-based planning||slides|
|9||Sep. 25||Perception||Point clouds, estimation (least squares, RANSAC)||HW #2 (see slides)|
|10||Sep. 27||Perception||Kinect tilt controller, plane segmentation in PCL||slides|
|11||Oct. 2||Perception||Point cloud matching, registration||RSS 2011 tutorials on keypoints, range images||slides|
|12||Oct. 4||Perception||More details on registration and associated PCL functions|
|Oct. 9||NO CLASS
|13||Oct. 11||Localization||Inference/tracking, Markov localization||ETH localization 1 (through slide 31), ETH localization 2 (through slide 41),||HW #2 due|
|14||Oct. 16||Localization||Particle filtering, Monte Carlo localization (ROS amcl)||Thrun particle filtering slides, U. Tennessee Monte Carlo Localization, Fox et al. AAAI 1999 paper, Nao localization at U. Freiburg|
|15||Oct. 18||Mapping||SLAM (ROS gmapping)||Thrun FastSLAM slides, gmapping demo, Darmstadt mapping||HW #3|
|16||Oct. 23||Mapping||gmapping details||UC Berkeley notes on gmapping, scan-matching||Instructions for running gmapping/amcl|
|17||Oct. 25||Mapping||RGB-D SLAM (ROS rgbdslam)||RGBD SLAM slides, ICRA 2012 RGBD SLAM paper, U. Texas slides on SIFT features 1, 2|
|18||Oct. 30||NO CLASS
HW #3 Lab
|Sign up page|
|19||Nov. 1||NO CLASS
HW #3 Lab
|Sign up page||HW #3 due|
|Nov. 6||NO CLASS
|20||Nov. 8||Student presentations||Sign up page|
|21||Nov. 13||Student presentations||Sign up page|
|22||Nov. 15||Student presentations||Sign up page|
|23||Nov. 20||Miscellaneous||Finish lecture on SIFT features, go over project ideas|
|Nov. 22||NO CLASS
|24||Nov. 27||Project lab|
|25||Nov. 29||Project lab|
|26||Dec. 4||Project presentations (extra-long class)|
|NO FINAL EXAM|