Schedule

Date Topic Notes Reading Assignment out/due
1/12/2016 Introduction
1/15/2016 Representation of rotation, Homogeneous Transforms Introduction, Vectors, Matrices, Rotations, Homogeneous Transforms Corke, Ch 2, Ch 7, Ch 8
1/19/2016 Forward Kinematics, Inverse Kinematics, Differential Kinematics Homogeneous Transforms Inverse Kinematics Differential Kinematics Corke, Ch 2, Ch 7, Ch 8
1/22/2016 Different representations of orientation Different representations of orientation Corke, Ch 2, Ch 7, Ch 8
1/26/2016 Differential Kinematics, Cartesian Control Differential Kinematics Cartesian Control Corke, Ch 2, Ch 7, Ch 8
1/29/2016 Kinematic Redundancy Kinematic Redundancy Corke, Ch 2, Ch 7, Ch 8
2/5/2014 C-space, Bugs c-space Bugs, Wavefront planning Corke, Ch 5 HW 1 due! PDF Code
2/9/2014 Bugs, Wavefront planning Bugs, Wavefront planning, Corke, Ch 5
2/12/2014 Wavefront planning, PRMs Bugs, Wavefront planning, PRM, Corke, Ch 5
2/23/2016 No Class: Rob is out sick!
2/23/2016 PRMs, UCS PRM, BFS/UCS One-page Project Proposal Due!
2/26/2016 PRMs, RRT PRM, RRT
3/1/2014 RRT RRT HW 2 due! PDF Code
3/4/2014 No Class: Rob at a conference.
3/8/2014 SPRING BREAK!
3/11/2014 SPRING BREAK!
3/15/2014 Point Clouds: surface normals, denoising Point clouds
3/18/2014 Point Clouds: RANSAC, ICP, Hough transform Point clouds
3/22/2014 Control: state space representation Control
3/25/2014 Exposure to Helping Hands Lab research Class will be held in 166 West Village H. Marcus's slides. Andreas's slides.
3/29/2016 Control: LQR, Linear MPC Control HW 3 due! PDF Code
3/29/2016 Control: LQR, Linear MPC Control
4/1/2016 Control: LQR, Linear MPC Control
4/5/2016 Bayes Filtering, Particle Filtering, Kalman Filtering Filtering Corke, Ch 6
4/8/2016 Bayes Filtering, Particle Filtering, Kalman Filtering Filtering Corke, Ch 6
4/12/2016 Bayes Filtering, Particle Filtering, Kalman Filtering Filtering Corke, Ch 6
4/15/2016 Bayes Filtering, Particle Filtering, Kalman Filtering Filtering
4/19/2016 Research topics HW 4 due! PDF Code, CS4610 Project Presentations
4/22/2016 CS5335 Project Presentations, Project Due!


Readings: unless noted otherwise, all readings and assignments are due on the day that they appear in the schedule.

Corke --> Robotics, Vision, and Control: Fundamental Algorithms in Matlab, by Peter Corke