Time and Place: TF, 3:25 -- 5:05, Behrakis Health Sciences Cntr 320
College of Computer and Information Science
Primary Instructor: Robert Platt
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