CS 3630: IPR - Introduction to Perception and Robotics
TR 3:05-4:25, CCB 17 Spring 2011
Instructor: Mike Stilman
Office hours: By email or appointment
Good place/time: CCB 254 Thursday 1:30 - 2:30.
TA: Ana Huaman
ahuaman3@gatech.edu
Office hours:
By email or appointment.
Grader: Gaurav Karnik
gkarnik3@gatech.edu
For Discussion, Group Building and Collaboration on Projects: Course Wiki
Summary:
We discuss the building blocks of intelligent robotics. The goal of the class is to combine perception with automated reasoning and control to achieve robot motion and goal driven behavior. Students will learn basic methods in perception, estimation, planning and control. They will implement these methods on robot platforms through stages of development. The course will culminate with projects and competitions.
Course Reading
Required:
Siegwart & Nourbakhsh, Introduction to Autonomous Mobile Robotics - Basic reader on mobile robotics from kinematics to perception and planning.
Optional:
Craig, Introduction to Robotics - More traditional treatment of robotics: kinematics, dynamics and control.
Additional:
Other readings and references will be posted on this website.
Schedule (PDFs of slides will be posted during course)
- Jan. 13: Introduction, Applications of Robots, Class Structure: [PDF]
- Jan. 18: Intelligent Robotics: [PDF]
Representations of Space and Motion
- Jan. 20: Locomotion Primer: [PDF]
- Siegwart & Nourbakhsh Ch. 1 - Introduction
- S&N Ch. 2 - Locomotion
- Jan. 25: Kinematics I: [PDF]
- Optional: Craig - Ch. 1 Introduction
- Optional: Craig - Ch. 2 Spatial Transformations
- Optional: Craig - Ch. 3 Forward Kinematics
- Jan. 25: Kinematics II: [PDF]
- Feb. 1: Differential Kinematics: [PDF]
- Optional: Craig - Ch. 5 Velocities, Static Forces, and Jacobians.
- Feb. 3: Differential Constraints: [PDF]
- S&N Ch. 3 - Mobile Robot Kinematics (Differential)
Actuators and Sensors
- Feb. 8: Computer Vision: [PDF]
- Feb. 10: OpenCV Tutorial/Workshop [PDF]
- Feb. 15: Computer Vision II: [PDF]
- S&N Ch. 4: 118 - 144 Common concepts in Vision
- S&N Ch. 4: 163 - 180 Visual Feature Extraction
- Feb. 17: Project 1 Demonstrations
- Feb. 22: Linear Control: [PDF]
- S&N Ch. 3 - Mobile Robot Kinematics (Kinematic Control)
- Feb. 24: Actuators & Control: [PDF]
- Mar. 1: Sensors in Robotics I: [PDF]
- Mar. 3: Sensors in Robotics II: [PDF]
- S&N Ch. 4: 90 - 118 Broader Sensors in Robotics
- Mar. 3: Project 2 Demonstrations
Planning: Robots that Think
- Mar. 8: Planning is Search: [PDF]
- Mar. 10: Planning on Grids/Graphs: [PDF]
- S&N Ch. 6 - Planning: 257-266
- Mar. 15: Planning with Roadmaps: [PDF]
- S&N Ch. 6 - Planning: 257-266
- Mar. 17: In-Class Midterm Exam
- 2010 Final for 3630 [PDF]
- Mar. 29: Discussion of Kinematics/Control
- Mar. 31: Planning Review: [PDF]
- S&N Ch. 6 - Planning: 267-290
- Apr. 4: Project 3 Demonstrations
- Apr. 5: Manipulation Planning: [PDF]
- Apr. 7: Beyond Path Planning: [PDF]
Learning: Robots that Think More Clearly
- Apr. 12: Localization + Mapping: Guest Lecture - Frank Dellaert:
- Apr. 14: Robot Learning: [PDF]
- Apr. 19: Linear Regression: [PDF]
- S&N Ch. 5 - Estimation: 226-256
- Material was covered from a different perspective in class.
- Apr. 21: Advanced Regression [PDF]
- S&N Ch. 5 - Estimation: 226-256
- Apr. 26: Summary and Review
Assignments and Projects:
All projects will be submitted as one PDF from each group and a live demonstration.
Project Submission Guidelines [PDF] - Also includes regrade information
Requirements:
This course will be evaluated based on three group projects, one final project and a final.
Project 1 (10%)
Project 2 (15%)
Project 3 (15%)
Midterm (15%)
Final (20%)
Final Project (25%)
Final projects will be in the form of competitions between groups. While winning is not required, a clear effort must be demonstrated to achieve the goal. A brief report will explain the strategies / methods applied to increase the robot's performance in the task.