Time and Place: T/F, 3:25 -- 5:05; 130 Hurtig Hall

College of Computer and Information Science

Primary Instructor: Robert Platt

Date | Topic | Notes | Reading | Assignment out/due |
---|---|---|---|---|

9/6 | Office Hours: 1 - 5pm, ISEC 090 (take the elevator to the basement) | |||

9/7 | Office Hours: 1 - 5pm, ISEC 090 (take the elevator to the basement) | |||

9/8 | CLASS CANCELLED! I can't make it to the first day of class! Sorry about that. I have to be at a wedding on that day. Instead, I'm holding office hours on Wedsneday and Thursday between 1pm and 5pm in the afternoon (9/6, 9/7) in my robotics lab at 090 ISEC. I would be happy to discuss with you what we will cover in this course, the workload, assignments, etc. You don't have to come to these office hours if you don't want. Instead, just have a look at the first day lecture notes and the video I've posted in the column to the right. Or, you can email me any questions. In any case, I hope you decide to take the course if you're interested in robotics! |
Intro Slides |
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9/12 | Abbreviated Intro, representation of rotation | Vectors, Matrices, Rotations | Corke, Ch 2, Ch 7, Ch 8 | |

9/15 | Homogeneous Transforms | Homogeneous Transforms | Corke, Ch 2, Ch 7, Ch 8 | |

9/19 | Forward Kinematics, Inverse Kinematics, Differential Kinematics | Homogeneous Transforms Inverse Kinematics Differential Kinematics | Corke, Ch 2, Ch 7, Ch 8 | |

9/22 | Differential Kinematics, Cartesian Control | Differential Kinematics | Corke, Ch 8 | |

9/26 | Differential Kinematics, Cartesian Control | Cartesian Control Different representations of orientation | Corke, Ch 8 | |

9/29 | Differential Kinematics, Cartesian Control | Cartesian Control Different representations of orientation | Corke, Ch 8 | HW 1 out: PDF Code |

10/3 | Cartesian Control, Representation of orientation | Cartesian Control Different representations of orientation | Corke, Ch 8 | |

10/6 | Motion planning: bug algorithms, wavefront | Bugs, wavefront algorithm | Corke, Ch 5 | HW 1 DUE!: PDF Code |

10/10 | Configuration space, cell decomposition, potential fields | Configuration space Cell decomposition potential fields | Corke, Ch 5 | |

10/13 | PRM | PRM | Corke, Ch 5 | |

10/17 | RRT | RRT | HW 2 OUT: PDF Code | |

10/25 | HW 2 DUE!: PDF Code | |||

10/27 | State space form | Linear optimal control | ||

10/31 | Linear optimal control | Linear optimal control | ||

11/3 | Linear optimal control | Linear optimal control | ||

11/7 | Linear optimal control | Linear optimal control | HW 3 OUT!: PDF Code | |

11/10 | Linear optimal control | Linear optimal control | ||

11/14 | Research presentations from Marcus and Andreas | |||

11/17 | Deep Learning for Image Classification and Detection | Neural networks | ||

11/21 | Deep Learning for Image Classification and Detection | Neural networks | ||

11/24 | THANKSGIVING! NO CLASS! | Neural networks | ||

11/28 | Deep Learning for Image Classification and Detection | Neural networks | HW 4 OUT!: PDF Code | |

12/9 | Project due!: PDF Code |

Markov decision processes |

Reinforcement Learning |

**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