CS4610: Schedule

Week 1: Jan 7 - 11
Week 2: Jan 14 - 18
Week 3: Jan 21 - 25
Week 4: Jan 28 - Feb 1
Week 5: Feb 4 - 8
Week 6: Feb 11 - 15
Week 7: Feb 18 - 22
Week 8: Feb 25 - Mar 1
Week 9: Mar 2 - 10
Week 10: Mar 11 - 15
Week 11: Mar 18 - 22
Week 12: Mar 25 - 29
Week 13: Apr 1 - 5
Week 14: Apr 8 - 12
Week 15: Apr 15 - 19

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: Jan 7 - 11

Mon no lab meeting

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

Wed no lab meeting

Fri HW0 due 11pm Orangutan SVP man; avr-libc man sec 2; Pololu AVR Lib Ref (skim): L1 — C programming on microcontrollers and embedded systems

Week 2: Jan 14 - 18

Mon: LAB0 — programming the AVR in C
Tue LAB0 due 11pm ER 3.0–3.5, ch 4: L2 — rotation sensors; electric motors
Wed LAB1 out: LAB1 — implementing differential drive
Fri AMR 3.1–3.2.2; ER 8.6 (skip Ackermann): L3 — differential drive kinematics

Week 3: Jan 21 - 25

Mon: MLK Day - no lab meeting, 102WVH closed
Tue Tutorial on Diff Steering; ER ch 5; optional: AMR 3.6: L3 — continued; L4 — motor control
Wed: LAB1 — continued
Fri ER ch 5; optional: AMR 3.6: L4 — continued

Week 4: Jan 28 - Feb 1

Mon: LAB1 — continued
Tue ER ch 5; optional: AMR 3.6: L4 — continued
Wed LAB1 due 11pm: LAB1 — final demonstrations
Fri ER 16.8,9; AMR 6.4; Goldberg et al 2002 section 4: L5 — obstacle avoidance and local navigation

Week 5: Feb 4 - 8

Mon: no lab meeting
Tue ER 3.6–8; AMR 4.0–1: L6 — sensors for mobile robots
Wed LAB2 out: LAB2 — obstacle avoidance and navigation
Fri: snow day, no class, 102WVH closed

Week 6: Feb 11 - 15

Mon: no lab meeting
Tue ER 16.3–7, 16.10; AMR 6.0–3: L7 — global navigation
Wed: LAB2 — continued
Fri ER 16.3–7, 16.10; AMR 6.0–3: L7 — continued

Week 7: Feb 18 - 22

Mon: Presidents Day - no lab meeting, 102WVH closed
Tue ER 16.0–2; AMR 5.0–7: L8 — basic localization and mapping
Wed LAB2 due 11pm: LAB2 — final demonstrations
Fri ER 18; AMR 5.8: L8 — continued

Week 8: Feb 25 - Mar 1

Mon LAB3 out: LAB3 — arm kinematics and grasping
Tue ER 14: L9 — arm kinematics
Wed: LAB3 — continued
Fri Selig 1992 5.0–5.2: L9 — continued

Week 9: Mar 2 - 10

Sat: Spring Break - 102WVH closed
Sun: Spring Break - 102WVH closed
Mon: Spring Break - no lab meeting, 102WVH closed
Tue: Spring Break - no class, 102WVH closed
Wed: Spring Break - no lab meeting, 102WVH closed
Thu: Spring Break - 102WVH closed
Fri: Spring Break - no class, 102WVH closed
Sat: Spring Break - 102WVH closed
Sun: Spring Break - 102WVH closed

Week 10: Mar 11 - 15

Mon: LAB3 — continued
Tue Selig 1992 6.0–6.3; Buss 2009: L9 — continued
Wed LAB4 out, LAB3 due 11pm: LAB3 — final demonstrations; LAB4 — visual servoing
Fri ER 3.9, 19.0–19.2, 19.5, 19.8; AR 4.1.11, 4.2.8; OpenCV refs: L10 — cameras, images, sampling, and color

Week 11: Mar 18 - 22

Mon: no lab meeting
Tue: snow day, no class, 102WVH closed
Wed: LAB4 — continued
Fri ER 19.3, 19.6, 20.5; AR 4.3.1–4.3.2, 4.5.5; JavaCV cvFindContours() example; lirtex example; blob detection tutorial: L11 — image processing, blob detection, edge/line/circle detection

Week 12: Mar 25 - 29

Mon: LAB4 — continued
Tue AR 4.2.0–4.2.3: L12 — camera calibration and monocular vision
Wed LAB4 due 11pm, LAB5 out: LAB4 — final demonstrations; LAB5 — challenge (ugrad) or project (grad)
Fri AR 4.2.5, Wikipedia entry for Kinect, PrimeSense Depth Sensor Patent: L13 — stereo vision and the Kinect

Week 13: Apr 1 - 5

Mon LAB5 due 11pm — grad proposals only: LAB5 — continued
Tue AR 4.2.7, 4.4–4.5; optional Hutchinson et al 96, 06 (I)/07 (II): L14 — visual servoing
Wed: LAB5 — continued
Fri AR 5.0–5.7: L15 — extended Kalman filter Localization

Week 14: Apr 8 - 12

Mon: no lab meeting
Tue AR 5.8: L16 — EKF SLAM
Wed: LAB5 — continued
Fri: grad student project presentations

Week 15: Apr 15 - 19

Mon: Patriots Day - no lab meeting, 102WVH closed; LAB5 — special session 4–7pm
Tue: no lecture - final project work time
Wed LAB5 due 11pm: LAB5 — final demonstrations
Fri: exam period - no lab meeting