teaching
CMSC 360
Intelligent Robotics and Perception
overview | logistics | organization | schedule | announcements | labs | sketches | resourcesSchedule changes frequently.
| week | date | topic | readings | project |
| 1 PUPPETS | 8/31/2009 | intro | syllabus | |
| 9/2/2009 | locomotion | Chapters 1 & 2 | ||
| 2 | 9/7/2009 | sensing | Chapter 4-4.1.5 | |
| 9/9/2009 | teleoperation | "The Mercury Project: A Feasibility Study for Internet Robots" by Goldberg et al. and "Robotics for surgery" by Howe et al. | Vladimir - Telegarden | |
| 3 ANTS | 9/14/2009 | subsumption | "A Robust Layered Control System for a Mobile Robot." Brooks. | Jaqueline - C Leg |
| 9/16/2009 | open and closed loop control; motor schemas | Control Tutorial by Kuipers | lab 1; Curtis - Elsie & Elmer | |
| 4 | 9/21/2009 | motor schemas | AuRA: Principles and Practice in Review and Behavior-based Formation Control for Multi-robot Teams by Arkin & Balch | |
| 9/23/2009 | VFH and Voting Architectures | VFH by Borenstein and "DAMN: A Distributed Architecture for Mobile Navigation" by Rosenblatt | Che - Genghis | |
| 5 | 9/28/2009 | bug algorithms | Chapter 6 (pg 272--278) and Chapter 2 of Principles of Robot Motion | Project Brainstorm Due |
| 9/30/2009 | swarms | "Division of Labour in a Group of Robots Inspired by Ants' Foraging Behaviour" by Labella T.H., Dorigo M., Deneubourg J.-L. | Wayne - Roomba | |
| 6 | 10/5/2009 | self-reconfiguring robots; semester project | Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future by Yim et al. | |
| BATS | 10/7/2009 | sonar; laser; localization | Chapter 4.1.6-4.1.7.1 & Chapter 5.1-5.3 & 5.7 | lab 2 |
| 7 | 10/12/2009 | FALL BREAK | ||
| 10/14/2009 | markov localization | Chapter 5.4-5.6.2; | Abhimanyu - Sojourner | |
| 8 | 10/19/2009 | particle filters | Monte Carlo Localization for Mobile Robots by Dellaert et al. | |
| 10/21/2009 | breadth-first search | Up to and including the section on Dijkstra's algorithm in Chapter 2. Discrete Planning of "Planning Algorithms" by Steve LaValle. The wikipedia articles for breadth-first search and Dijkstra's Algorithm might be useful. | ||
| 9 | 10/26/2009 | A* | The section on A* in Chapter 2. Discrete Planning of "Planning Algorithms" by Steve LaValle. The wikipedia article for A*-search | |
| 10/28/2009 | D* | "Fast Replanning for Navigation in Unknown Terrain" by Koenig & Likhachev | Hannah - Shakey | |
| 10 | 11/2/2009 | randomized motion planning | Randomized Motion Planning - A Tutorial by Stefano Carpin | Planning (RRT & A*) Processing Sketch |
| 11/4/2009 | coverage | "Coverage for robotics - A survey of recent results" by Howie Choset | Maksim - Opportunity | |
| 11 CAMELS | 11/9/2009 | vision | Ch. 4.1.8-4.3.2 and Computer Vision Tutorial | Edge Detection Processing Sketch and Image Filters Processing Sketch |
| 11/11/2009 | segmentation | "Fast and Inexpensive Color Image Segmentation for Interactive Robots" by Bruce et al. | V - Stanley | |
| 12 | 11/16/2009 | machine learning | lab 3 K-Means Image Segmentation Processing Sketch | |
| 11/18/2009 | ADVISING DAY | |||
| 13 | 11/23/2009 | object recognition | "Robust Real-time Object Detection" by Viola and Jones | |
| 11/25/2009 | workshop day | |||
| 14 | 11/30/2009 | MDPs/value-iteration | Chapter 3 and Section 4.4 of Sutton and Barto's "Reinforcement Learning: An Introduction" | |
| 12/2/2009 | reinforcement learning | Reinforcement Learning: A Survey by Kaebling et al. | lab 4; Petar - Pegasus | |
| 15 | 12/7/2009 | workshop day | ||
| 12/9/2009 | reinforcement learning II | Bella - Kismet | ||
| 16 | 12/14/2009 | workshop day | Amar - Haile | |
| 12/16/2009 | project presentations | project |