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Date
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Topic
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Assignment Due
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8/23
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First day of class
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8/25
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Control Architectures
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1) Read pages 3-7 (Introduction) in the Quigley+ book
2) By 11:59pm on 8/24, answer the "Intro Survey" on Piazza
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8/30
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Sensors (Vision) Slides + Audio
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9/1
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Sensors Slides + Audio
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Lab 1 due by 6pm, 9/2
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9/6
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Lab 2 (Notes)
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9/8
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Sensors Slides + Audio
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Lab 2 due by 6pm, 9/12
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9/13
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Locomotion Slides + Audio
Kinematics
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9/15
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Kinematics Slides + Audio
Pictures from board: 1 and 2
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9/20
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Kinematics, Mobility Slides+Audio Picture of worked Kinematics problem
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By 11:59pm on Monday 9/19, read the 10 page pdf in blackboard and post a question/comment to Piazza.
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9/22
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Manipulation Slides + Audio
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9/27
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Lab 3
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9/29
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Planning & Search Slides + Audio
If you haven't used search algorithms before, you may want to look at this brief overview and/or this for more in-depth reference. I also recommend you post questions to Piazza.
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Homework 1 due by 11:59pm, 9/28
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10/4
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Career fair: online only since >50% of class needs to miss. Planning & Search, part 2
Note that there will be a brief quiz at the beginning of class on 10/6 covering this material.
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10/6
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Final discretization methods & Review Slides + Audio
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Lab 3 due by 11:59pm, 10/9
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10/11
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Midterm #1
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10/13
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Guest Lecture by Dr. John Swensen
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10/18
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Localization Slides + Audio
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10/20
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Connecting to physical turtlebot:
Networking and Bringup
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10/25
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Test Review + Localization and Bayes Rule Slides + Audio
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Online: Math Review. Be ready to answer questions about this in class (participation quiz).
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10/27
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SLAM Exercise
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Lab 4 due by 6pm, 10/28
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11/1
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Localization Slides + Audio
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11/3
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SLAM Exercise, Discuss final project with group members
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11/8
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Particle Filtering & SLAM Slides + Audio
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11/10
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SLAM Slides + Audio
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SLAM Exercise due by 11/9, 6pm
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11/15
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Online: EKF and EKF SLAM
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Watch (Extended) Kalman Filter (Slides are here).
Watch EKF SLAM (Slides are here).
On Piazza, write 1) At least 2 paragraphs describing what these lectures are about and 2) Questions you had during the lectures. Please post this info by 11:59pm, Tuesday the 15th.
Please submit a 1-3 paragraph description of your final project. Who are the group members? What are the minimum success conditions? How will meet these conditions (timeline, what modules are needed, etc.). Please submit to blackboard by 11:59pm on Tuesday the 15th in either pdf or plain text format.
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11/17
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SLAM Wrap-up Slides + Audio
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11/22
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Thanksgiving Break
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11/24
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Thanksgiving Break
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11/29
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Optimization and Learning Slides + Audio
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12/1
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Reinforcement Learning Slides + Audio
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Do one of: Lab 5 / Homework 2 due by 11:59pm,12/2. For both of these, you can work in groups. Hand in only one per group.
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12/6
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Human-Robot Interaction Slides + Audio
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12/8
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Time to work on Final project in class
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12/12
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Final Presentations: Monday, 8-10am
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