| # | lecture date | title | description |
|---|---|---|---|
Sensing and Moving | |||
| 1 | Aug 29 | Welcome | First day of class |
| 2 | Sep 3 | ROS From the top | Looking at the key building blocks that we will be using |
| 3 | Sep 5 | ROS Nodes and Topics | Introducing ROS Fundamentals |
| 4 | Sep 10 | Robot Hardware | How do our autonomous robots work? |
| 5 | Sep 12 | Sensing with Lidar | How do we work with the LIDAR? |
| 6 | Sep 17 | Perception and Sensors | Sensors of various kinds are essential to robotics |
| 7 | Sep 19 | How do mobile Robots move? | Wheels, legs and other ways for robots to move around 3D space |
| 8 | Sep 24 | ROS Programming Best Practices | How to write nice code in ROS |
Orienting | |||
| 9 | Sep 26 | Robot Orientation | The role of Maps in orientation and localization |
| 10 | Oct 1 | ROS Coordinates | How does ROS handle coordinates, frames, transforms |
| 11 | Oct 8 | The almighty TF package | TF is the heart of the efficient conversion of coordinates between frames |
| 12 | Oct 10 | How do Robots Localize? | Using landmarks to determine location |
| 13 | Oct 15 | Localization in practice | Look at the mechanics of SLAM and AMCL |
| 14 | Oct 17 | Navigating | Deeper dive into Navigating |
| 15 | Oct 22 | Path Planning | Look a little deeper at how its done |
Advanced Topics | |||
| 16 | Oct 24 | Fiducials | Uses of Fiducials |
| 17 | Oct 29 | Finite State Machines | How to give robots intelligent behavior |
| 18 | Oct 31 | Behavior Trees | Behavior trees are a better way to create interesting Robot behavior |
| 19 | Nov 5 | Intro to computer Vision | Some basics about CV to get you started |
| 20 | Nov 7 | Kalman Filters | About Kalman Filters and Sensor Fusion |
| 21 | Nov 12 | Kalman Filters | About Kalman Filters and Sensor Fusion |
| 22 | Nov 14 | Joints and Links | Robots can have their own body parts that have to be controlled |
| 23 | Nov 19 | Manipulators | More about links and joints and arms |
Projects | |||
| 24 | Nov 21 | Project Work | Reserved for working on projects |
| 25 | Nov 26 | Project Work | Reserved for working on projects |
| 26 | Dec 3 | Last Class! | Last Class! |