CS4610: Schedule

This schedule gives the topics planned for each lecture and lab meeting. It also shows assignment due dates and readings. Readings marked ER and AMR are sections in the course texts. (The text at the very beginning of chapter i is referred to as i.0.) All readings should be completed before coming to the corresponding lecture.

Links to posted lectures and assignments are also avilable on their own pages.

This schedule is subject to change. Hit “reload” to be sure you’re seeing the most recent revision (the timestamp of the revision you’re looking at is shown at the bottom of the page). We will make a best effort to ensure that the schedule is accurate both historically and for one week in the future. In most cases, things scheduled for more than a week in the future are only estimates.

Week 1: Sep 5 - 9

Wed HW0 out course website; AMR ch 1,2; ER 8.0–5, 9.0–2,4, optional: ch 10–13
L0 — course overview; common types of robots

Lab — overview of the course robot; editors, subversion, and make

Thu Orangutan SVP manual; avr-libc manual sec 2; Pololu AVR Lib Cmd Ref (skim)

L1 — C programming on microcontrollers and embedded systems

Fri HW0 due 5pm

LAB0 — programming the AVR in C

Week 2: Sep 12 - 16

Mon ER 3.0–3.5, ch 4

L2 — rotation sensors; electric motors

Wed LAB1 out AMR 3.1–3.2.2; ER 8.6 (skip Ackermann); Tutorial on Diff Steering
L3 — differential drive kinematics

LAB1 — implementing differential drive

Thu

L3 — continued

Fri

LAB1 — continued

Week 3: Sep 19 - 23

Mon

L3 — continued

Wed ER ch 5; optional: AMR 3.6
L4 — motor control

LAB1 — continued

Thu

L4 — continued

Fri

LAB1 — continued

Week 4: Sep 26 - 30

Mon

no lecture

Wed
no lecture
LAB1 — continued

no lab meeting

Thu

no lecture

Fri
LAB1 — continued

no lab meeting

Week 5: Oct 3 - 7

Mon ER 16.8,9; AMR 6.4; Goldberg et al 2002 section 4

L5 — obstacle avoidance and local navigation

Wed LAB1 due ER 3.6–8; AMR 4.0–1
L6 — sensors for mobile robots

LAB1 — final demonstrations

Thu

L6 — continued

Fri LAB2 out

LAB2 — obstacle avoidance and navigation

Week 6: Oct 10 - 14

Mon

Columbus Day - no lecture

Wed
L6 — continued

LAB2 — continued

Thu ER 16.10–11; AMR 6.0–3

L7 — global navigation

Fri

LAB2 — continued

Week 7: Oct 17 - 21

Mon

L7 — continued

Wed ER 16.0–3; AMR 5.0–7

L8 — localization and mapping

Thu

L8 — continued

Fri

LAB2 — continued

Week 8: Oct 24 - 28

Mon ER 16.4–7, 18; AMR 5.8, 6.5

L8 — continued

Wed LAB2 due
L8 — continued

LAB2 — final demonstrations

Thu

L8 — continued

Fri LAB3 out

LAB3 — arm kinematics and grasping

Week 9: Oct 31 - Nov 4

Mon ER 14

L9 — arm kinematics

Wed Selig 1992 5.0–5.2
LAB3 — continued

L9 — continued

Thu Selig 1992 6.0–6.3

L9 — continued

Fri LAB3 due

LAB3 — final demonstrations

Week 10: Nov 7 - Nov 11

Mon Buss 2009; optional: Baerlocher and Boulic 2004

L9 — continued

Wed LAB4 out
L9 — continued

LAB4 — visual servoing

Thu ER 3.9, 19.0–19.2, 19.5, 19.8; AR 4.2.0–4.2.3, 4.2.8–4.3.1; OpenCV refs

L10 — cameras, images, sampling, and color

Fri

Veteran's Day - no lab

Week 11: Nov 14 - Nov 18

Mon ER 19.3, 19.6, 20.5; AR 4.3.2, 4.5.5

L11 — detecting edges, lines, circles, and blobs

Wed JavaCV cvFindContours() example; lirtex example; blob detection tutorial
LAB4 — continued

L11 — continued

Thu

L12 — monocular vision

Fri LAB4 due, LAB5 out
LAB4 — final demonstrations

LAB5 — challenge or project

Week 12: Nov 21 - Nov 25

Mon LAB5 due — grad proposals optional Hutchinson et al 96, 06 (I)/07 (II)

L12 — continued

Wed

Thanksgiving - no lecture or lab

Thu

Thanksgiving - no lecture

Fri

Thanksgiving - no lab

Week 13: Nov 28 - Dec 2

Mon

L13 — visual servoing

Wed AR 4.2.7, 4.4–4.5
L13 — continued

LAB5 — continued

Thu ROS intro; concepts I,II; clients; technical

L14 — Robot Operating System (ROS)

Fri

LAB5 — continued

Week 14: Dec 5 - Dec 9

Mon

grad student project presentations

Wed LAB5 due — final due date for undergrad and grad projects
work time for final demonstrations - no lecture

LAB5 — final demonstrations

Thu

reading day - no lecture

Fri

exam period - no lab