Class Schedule

CSE 4360 / CSE 5364 - Autonomous Robots
Tentative Lecture and Assignment Schedule
Fall 2008 - MW 4:00 - 5:20
Class	Date	Readings	Lecture Topics	Assignments
1	08/25	Slides	Course Details and Overview
2	08/27	Craig Ch. 2	Introduction to Robot Systems
	09/01		Labor Day Holiday - No Class
3	09/03	Craig Ch. 3	Forward Kinematics
4	09/08		Forward Kinematics continued
5	09/10	Craig 4.1 - 4.4	Inverse Kinematics
6	09/15		Inverse Kinematics continued	( Sample Problems 1 / Solution ; Sample Problems 2 / Solution )
7	09/17	Craig 5.1 -5.8	Jacobian
8	09/22	Craig 5.1 -5.8	Jacobian
9	09/24	Craig 9.1 - 9.5	Robot Dynamics and Control
10	09/29		Control and System Identification
11	10/01	Latombe pp 153 - 161, 169 - 175	Robot Motion Planning - Roadmaps
12	10/06	Latombe pp 200 - 207, 248 - 268, Slides(PDF)	Robot Motion Planning - Cell Decomposition
13	10/08	Latombe pp 295 - 334, Slides(PDF)	Robot Motion Planning - Potential Field Approaches	Homework 1 due (Linux Code: Kinematics , Dynamics ); (Linux 64 Bit Code (e.g. Omega): Kinematics , Dynamics ); (Cygwin Code (Windows XP): Kinematics , Dynamics )
14	10/13		Robot Motion Planning
15	10/15		Nonholonomic Motion Planning
16	10/20	Everett Ch. 2, pp. 91-97	Robot Sensors
17	10/22		Group Project 1 Presentations
18	10/27	Ballard 3.1 - 3.3.4	Basic Vision
19	10/29		Basic Vision
20	11/03	Ballard 5.1 - 5.3	Basic Vision
21	11/05	Braitenberg Ch. 1 - 5	Intelligent Robot Behavior
22	11/10	Arkin 1.3 - 1.4, 4.1 - 4.3	Robot Control Architectures
23	11/12	Arkin 4.4 - 4.7	Robot Control Architectures	Homework 2 due ( Linux Code , Linux 64 Bit Code (e.g. Omega), Cygwin Code (Windows XP) (no xv_cam image conversion program))
24	11/17		Robot Control Architectures
25	11/19	Haykin 8.3 - 8.5, 6 - 6.4	Adaptation and Learning
26	11/24	Arkin 8 - 8.4	Adaptation and Learning
27	11/26		Group Project 2 Presentations
28	12/01		Exam
29	12/03		Integrated Systems & Summary	Homework 3 due
31	TBD		Final Project Presentations

Recommended Readings from:

• John J. Craig, Introduction To Robotics, Addison Wesley
• Jean-Claude Latombe, Robot Motion Planning, Kluwer Academic Publishers
• H. R. Everett, Sensors for Mobile Robots, A K Peters
• Dana H. Ballard and Christopher M. Brown, Computer Vision, Prentice-Hall
• L. Dorst, M. Lambalgen, F. Voorbraak (Eds.), Reasoning with Uncertainty in Robotics, Springer
• Alberto Elfes, Using Occupance Grids for Mobile Robot Perception and Navigation, in IEEE Computer 22(6)
• W. Burgard, D. Fox, D. Henning, T. Schmidt, Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids, in Proc. of AAAI 1996
• Valentino Braitenberg, Vehicles, MIT Press
• Ronald C. Arkin, Behavior-Based Robotics, MIT Press
• S. Haykin, Neural Networks, Macmillan Publishing

This schedule is tentative and subject to change. If changes are necessary they will be announced in class and posted in the schedule on the course page.