Check out our Google Calendar!
| Lec | Week | Day | Date | Topic | Reading | Work Due |
|---|---|---|---|---|---|---|
| 1 | 1 | Wed | 12-Jan | Introduction, ROS, project 1, Overview of Motion Planning (configuration space, c-space, free space) | Paper, Lavalle 2.1, 2.2.1-2.2.2, 4.3 | |
| Mon | 17-Jan | MLK day no class | ||||
| 2 | Tues | 18-Jan | ROS Tutorial I: Introduction to ROS | |||
| 2 | 2 | Wed | 19-Jan | Overview of motion planning (continued), discretizing free spaces for planning: the A* algorithm | Lavalle 2.1-2.3, Choset 4.1-?? | |
| 3 | Mon | 24-Jan | Kinematics: Application to Mobile Robots, Control | |||
| 4 | 3 | Wed | 26-Jan | Kinematics: Rotations and the Euclidean group SE(3) | MLS 2.1, 2.2, A1.1, A2.1 | |
| 5 | Mon | 31-Jan | Kinematics: Exponential map, Euler's and Chasles' theorem | MLS 2.2, 2.3, 3.1-3.3, A2 | HW 1 | |
| 6 | 4 | Wed | 2-Feb | Exponential map for SE(3) and Chasles' theorem. Path controller for a mobile robot | notes (Sec. 4) | |
| 7 | Mon | 7-Feb | Rigid body velocities, twists, and the Lie algebra se(3) | MLS 2.3.3, 2.4 | ||
| 8 | 5 | Wed | 9-Feb | Forward kinematics, product of exponentials, the manipulator Jacobian | MLS 3.1, 3.2.1-3.2.3, 3.4.1 | |
| 9 | Mon | 14-Feb | Kinematics of serial chains (continued) | |||
| 10 | 6 | Wed | 16-Feb | Twists and wrenches, reciprocity, and screw systems | ||
| Fri | 18-Feb | No class (HW due to Matt by 1100 am) | HW 2 | |||
| 11 | Mon | 21-Feb | Analysis of Jacobians, singularities | |||
| 12 | 7 | Wed | 23-Feb | Implicit motion planning techniques | HW 3 | |
| 13 | Mon | 28-Feb | Color | |||
| 14 | 8 | Wed | 2-Mar | Camera Geometry | ||
| 15 | Mon | 7-Mar | Stereo Camera Geometry | |||
| 16 | 9 | Wed | 9-Mar | Stereo Correspondence | ||
| - | Mon | 14-Mar | Spring Break | |||
| - | Wed | 16-Mar | Spring Break | Project 3A | ||
| 17 | 10 | Mon | 21-Mar | Segmentation Introduction | ||
| 18 | 11 | Wed | 23-Mar | K-Means Clustering | ||
| 19 | Mon | 28-Mar | Hierarchical Clustering | |||
| 20 | 12 | Wed | 30-Mar | Segmentation Graph Weights | Project 3B | |
| 21 | Mon | 4-Apr | Graph Algorithm for All Pair Shortest Path | |||
| 22 | 13 | Wed | 6-Apr | Spectral Graph Segmentation | ||
| 23 | Mon | 11-Apr | Tracking and Optical Flow | |||
| 24 | 14 | Wed | 13-Apr | Graph Embedding | ||
| 25 | Mon | 18-Apr | ||||
| 26 | Wed | 20-Apr | No Lecture | |||
| 27 | Mon | 25-Apr | Jianbo's Extended Office Hours |
Calendar
(:GoogleCalendar calendar=meam620@gmail.com title="Spring 2011 Syllabus":)