CptS 483: Introduction to Robotics    
Spring 2016

Matthew E. Taylor (Matt)
EME 137
TA Hours: (in Dana 3)
Monday 1-5pm, Tuesday 1:30-4pm  
Piazza link: (discussions)
Blackboard link: (homework / lab submissions)
Dana 3 Open Hours:
Syllabus: Spring 2016
Required Pre-Requisite: CptS 350 or permission of the instructor
Suggested Pre-Requisite: Familiarity with Linux
Optional Textbooks:
  • Introduction to Autonomous Mobile Robots,
    Second Edition, 2011.
    Siegwart, Nourbakhsh, and Scaramuzza.
    ISBN-10: 0262015358
  • Programming Robots with ROS: A Practical Introduction to the Robot Operating System,
    Quigley, Gerkey, and Smart.
    ISBN-10: 978-1-4493-2389-9


Assignment Due
1/12 First day of class  
1/14 Control Architectures 1) Read pages 3-7 (Introduction) in the Quigley+ book
2) By 11:59pm on 11/13, answer the "Intro Survey" on Piazza
1/19 Sensors, Vision Lab 1: Intro to ROS. Submit to Blackboard by 11:59pm on 1/18.
1/21 Sensors: Wheel encoders, GPS In preparation for Lab 2, run the turtlebot simulator in gazebo. If desired, you can also try stage.
Nothing to turn in, but please post any problems you run into on Piazza.
1/26 Sensors: Ultrasoic, Laser. Legged Robotics  
1/28 Kinematics
Extra notes are in a pdf on Blackboard
Lab 2: Intro to TurtleBots. Submit to Blackboard by 11:59pm on 1/27.
2/2 Kinematics and Mobility: Slides and Slides+Audio  
2/4 Manipulation and Grasping  
2/9 Planning: Discrete States and Slides + Audio
If you haven't used search algorithms before, you may want to look at either this brief overview and/or this more in-depth reference.
Homework 1 due by 11:59pm on Monday 2/8. Feel free to work in teams, but for this homework, everyone should turn in their own solutions and list all collaborators. You can either turn it in via blackboard, or you can submit any physical papers at Matt's office: EME 137 (please put it under the door if I'm not in).
2/11 Planning: Continuous States Slides+Audio Lab 3 due by 11:59pm on Friday, 2/12.
2/16 Guest lecture: Kshitij Jerath  
2/18 Guest lecture: John Swensen 1 2 3 4 5 6  
2/23 Guest lecture: Kory Mathewson  
2/25 Test #1  
3/1 Localization Slides+Audio  
3/3 Bayesian Updating Slides+Audio Lab 4 due by 11:59pm on Friday, 3/4.
3/8 Bayesian Updating, Kaulman + Particle Filters Slides+Audio Handout  
3/10 Intro to SLAM Slides+Audio  
3/15 Spring Break  
3/17 Spring Break  
3/22 More SLAM details Slides+Audio  
3/24 Worked on virtual SLAM exercise SLAM Exercise is due by 11:59pm on Friday, 3/25.
3/29 Discussion of final project, worked on physical SLAM exercise. Lab 5 due by 11:59pm on Monday, 3/28.
SLAM on Turtlebot is due by 11:59pm on Monday, 3/28.
3/31 Kalman Filter Background Slides + Audio Watch (Extended) Kalman Filter (Slides are here) and on Piazza write 1) A paragraph describing what this lecture is about and/or 2) Questions you had during the lecture. Please post this info by 6am, Thursday the 31st.
4/5 More Kalman Filter Slides + Audio
Python Code discussed in class
Watch EKF SLAM (Slides are here) and on Piazza, write 1) A paragraph describing what this lecture is about and/or 2) Questions you had during the lecture. Please post this info by 6am, Tuesday the 5th
4/7 EKF SLAM Slides + Audio By 6am on Thursday 4/7, please post your final project idea to Piazza. Include your group members, high-level idea, and deliverables. You can post more than one idea if you'd like feedback.
4/12 Optimization & Learning, Slides & Audio Optimization & Learning 2, Slides & Audio Code discussed in class  
4/14 Reinforcement Learning  
4/21 No class: Senior design presentations Lab 6 due by 11:59pm, 4/20.
4/26 On-line office hours: (TBA)  
4/28 On-line office hours: (TBA)  
5/6 Final Exam 8am-10am