Time and Place: TF, 9:50--11:30, 224 Hurtig Hall
College of Computer and Information Science
Primary Instructor: Robert Platt
Date | Topic | Notes | Reading | Assignment out/due |
---|---|---|---|---|
1/13/2014 | Introduction | |||
1/16/2014 | Representation of rotation, Homogeneous Transforms | Vectors, Matrices, Rotations Homogeneous Transforms | Spong, 2.1--2.4; 3.1--3.2 | |
1/20/2014 | Representation of rotation | Homogeneous Transforms Euler angles, Quaternions Differential Kinematics | Spong, 2.1--2.4; 3.1--3.2 | |
1/23/2014 | Representation of rotation | Euler angles, Quaternions | Homework 1 out | |
1/27/2014 | Snow Day!!! | Snow Day!!! | ||
1/30/2014 | Differential Kinematics | Differential Kinematics Cartesian Control | Spong, 4.1--4.6 | Homework 1 due |
2/3/2014 | Jacobians | Cartesian Control Inverse Kinematics Kinematic Redundancy | Spong, 4.1--4.6 | |
2/6/2014 | Cartesian Control | Cartesian Control | Homework 2 out | |
2/10/2014 | Snow Day!!! | Snow Day!!! | ||
2/13/2014 | Cartesian control | Cartesian Control Inverse Kinematics Kinematic Redundancy Configuration Space, PPT, Potential Functions | Homework 2 due | |
2/17/2014 | Redundancy | Kinematic Redundancy | Homework 3 out | |
2/20/2014 | Cspace | Configuration Space, PPT | LaValle, 4.1 -- 4.3, 5.1 -- 5.6 | |
2/20/2014 | Potential fields | Potential Functions, | LaValle, 4.1 -- 4.3, 5.1 -- 5.6 | |
2/27/2014 | Class Cancelled!!! | Homework 3 due | ||
3/3/2014 | PRM | PRM, (PPT), Expansive Spaces, (PPT), | ||
3/6/2014 | RRT | RRT | ||
3/10/2014 | Spring Break! | |||
3/13/2014 | Spring Break! | |||
3/17/2014 | RRT, A* | A*, Weighted A*, A* example | ||
3/20/2014 | Weighted A*, Control, Kalman Filter | A*, Weighted A*, Intro to Controls Kalman Filter | Homework 4 out | |
3/27/2014 | Kalman Filter | Homework 4 due | ||
3/31/2015 | Kalman Filter | Kalman Filter | Homework 5 out | |
4/3/2015 | LQR | Intro to LQR, Affine LQR, LQR Example | Video of LQR being used to control an inverted pendulum about the upright. MIT perching glider video | |
4/10/2015 | LQR | Intro to LQR, Affine LQR, LQR Example | Video of LQR being used to control an inverted pendulum about the upright. MIT perching glider video | |
4/10/2015 | Homework 5 due | |||
4/24/2015 | Homework 6 due | |||
4/28/2015 | NOTE! I updated question 1.b. It is now asking for the derivative wrt x, not r, v, w. Also, the review session is in the same room at the same time as usual. | Exam due |
Readings: unless noted otherwise, all readings and assignments are due on the day that they appear in the schedule.
Spong --> Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, M. Vidyasagar
LaValle --> Planning Algorithms, Steven LaValle