teaching
CMSC 360
Intelligent Robotics and Perception
overview | logistics | organization | schedule | announcements | labs | hackpad | resourcesSchedule changes frequently.
| week | date | topic | readings | project | ||
| 1_PUPPETS | 2/02/2016 | introduction; ROS | syllabus; IAMR Ch. 1 | lab 0: ROS | ||
| 2/04/2016 | locomotion; ROS | IAMR Ch. 2 | ||||
| 2 | 2/09/2016 | kinematics | IAMR Ch. 3 | lab 1 | ||
| 2/11/2016 | sensing | IAMR 4.1 | Unimate (Rachel) | |||
| 3 | 2/16/2016 | teleoperation | "The Mercury Project: A Feasibility Study for Internet Robots"; IEEE Telepresence | DaVinci (Quincy) | ||
| 2/18/2016 | cameras | IAMR 4.2; First few OpenCV tutorials | Stanford Cart (Ben) | |||
| 4_ANTS | 2/23/2016 | open and closed loop control | IAMR 3.6; Control Tutorial by Kuipers | Elsie and Elmer (Darren) | ||
| 2/25/2016 | behavior-based architectures | IAMR 6.5; "A Robust Layered Control System for a Mobile Robot." by Brooks; AuRA: Principles and Practice in Review by Arkin and Balch. | lab 2; Roomba (Katie) | |||
| 5 | 3/01/2016 | vfh and voting architectures | IAMR 6.4.2; VFH by Borenstein; "DAMN: A Distributed Architecture for Mobile Navigation" by Rosenblatt | Navlab (Jason) | ||
| 3/03/2016 | bug algorithms | IAMR 6.4.1; Chapter 2 of Principles of Robot Motion | Kiva (Alexandra) | |||
| 6_BATS | 3/8/2016 | bayes | AI reading (moodle); PR 2.1--2.2; IAMR 5.1--5.3 | project proposal | ||
| 3/10/2016 | markov localization | PR 2.3-2.4 & 7.1--7.2; 8.1--8.2; IAMR 5.4--5.6.7 | Rhino (Drew) | |||
| 7 | 3/15/2016 | monte carlo localization | PR Ch. 8.3 | lab 3; Rhex (Charlie) | ||
| 3/17/2016 | image processing | IAMR 4.3 | Big Dog (Elias); project timeline due 18th | |||
| 8 | 3/22/2016 | SPRING BREAK | ||||
| 3/24/2016 | ||||||
| 9 | 3/29/2016 | breadth-first search; A* | IAMR 6.3.1.2; 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 (Morgan) | ||
| 3/31/2016 | randomized motion planning | IAMR 6.3.1.3; Randomized Motion Planning - A Tutorial by Stefano Carpin; | Spirit & Opportunity (Noah) | |||
| 10 | 4/5/2016 | mapping I | PR Ch. 9 | Neato (Jelani) | ||
| 4/7/2016 | image processing | IAMR 4.3 | ||||
| 11_CAMELS | 4/12/2016 | MDPs | PR Ch. 14 | |||
| 4/14/2016 | vision | IAMR 4.4--4.8 | Baxter (Marysia) | |||
| 12 | 4/19/2016 | teach-in | ||||
| 4/23/2016 | RL; POMDP | Reinforcement Learning: A Survey by Kaebling et al.; PR Ch. 15 | Xavier (Race); Pegasus (Cat) | |||
| 13 | 4/26/2016 | supervised learning | IAMR Ch. 4; scikit-learn | ALVINN (Stefan) | ||
| 4/28/2016 | unsupervised learning | scikit-learn | Cog (Kai); project status due 29th | |||
| 14 | 5/3/2016 | ADVISING DAY | ||||
| 5/5/2016 | workshop day | Stanley (Risdon) | ||||
| 14 | 5/10/2016 | D* | "Fast Replanning for Navigation in Unknown Terrain" by Koenig & Likhachev | Curiousity (Liam) | ||
| 5/12/2016 | workshop day | |||||
| 16 | 5/17/2016 | Project Presentations | ||||
| 5/19/2016 | ||||||