teaching
CMSC 360
Intelligent Robotics and Perception
overview | logistics | organization | schedule | announcements | labs | resourcesSchedule changes frequently.
| week | date | topic | readings | project |
| 1_PUPPETS | 9/04/2012 | introduction; ROS; locomotion | syllabus; IAMR Ch. 1-3; PR Ch. 1 | ROS Installed |
| 2 | 9/11/2012 | teleoperation & sensing | IAMR Ch. 3-4.1.11; "The Mercury Project: A Feasibility Study for Internet Robots" | Telegarden (Oliver); lab 1 |
| 3_ANTS | 9/18/2012 | open and closed loop control; subsumption; aura | Control Tutorial by Kuipers; "A Robust Layered Control System for a Mobile Robot." by Brooks; AuRA: Principles and Practice in Review by Arkin and Balch. | Elsie & Elmer (Shannon) |
| 4 | 9/25/2012 | vfh and voting architectures | VFH by Borenstein; "DAMN: A Distributed Architecture for Mobile Navigation" by Rosenblatt | Genghis(Blagoy); lab 2 |
| 5 | 10/02/2012 | bug algorithms; swarms | IAMR Chapter 6 and Chapter 2 of Principles of Robot Motion; "Division of Labour in a Group of Robots Inspired by Ants' Foraging Behaviour" by Labella T.H., Dorigo M., Deneubourg J.-L. | Roomba (Jacob) |
| 7_BATS | 10/16/2012 | bayes; laser; localization | IAMR Ch. 5; PR Ch. 2 | Rhino (Miles); Project idea due |
| 8 | 10/23/2012 | localization II | PR Ch. 4-6 | Rhex & Big Dog (Zach) |
| 9 | 10/30/2012 | breadth-first search; A* | Chapter 2. Discrete Planning of "Planning Algorithms" by Steve LaValle. The wikipedia articles for breadth-first search and Dijkstra's Algorithm and A*-search might be useful. | Shakey (Feifan) |
| 10 | 11/06/2012 | randomized motion planning; D* | Randomized Motion Planning - A Tutorial by Stefano Carpin; Planning (RRT & A*) "Fast Replanning for Navigation in Unknown Terrain" by Koenig & Likhachev | Sojourner, Spirit and Opportunity, and Curiosity (Erik); project design due |
| 11_CAMELS | 11/13/2012 | MDPs/value-iteration | PR Ch. 14-15 | Xavier (Anis); lab 4 |
| 12 | 11/20/2012 | pomdp; reinforcement learning | Reinforcement Learning: A Survey by Kaebling et al. | Pegasus (Maxime) |
| 13 | 11/27/2012 | machine learning | IAMR Ch. 4 | Alvinn (Yuexi); lab 3 |
| 14 | 12/04/2012 | object recognition | "Robust Real-time Object Detection" by Viola and Jones | Stanley(Michael) |
| 15 | 12/11/2012 | POMDP | PR2 (Nabil) | |
| 16 | 12/18/2012 | project presentations | project |