Week 1

Jan 22

  • Lecture
  • Reading
    • Rigid Body Motion, Notes, pages 1-10.
    • Kinematics of Wheeled Robots, Notes

''Jan 24"

  • Lecture
    • Project 1 baseline example, example specification and world files are here.
    • Feedback linearization for kinematic control of differential drive and Ackerman steering.
    • Demo of the Matlab interface to Gazebo, example files are here.
  • Reading
    • [LaValle 05] Ch. 2 - 2.2, skim 2.3 - 2.5.

Week 2

Jan 29

  • Lecture
    • Left action of groups, slides

Jan 31

Week 3

Feb 5

  • Lecture
    • Introduction to motion planning, slides
  • Reading

Feb 7

  • Lecture
    • Project I presentations
  • Reading

Week 4

Feb 12

  • Lecture
    • Introduction to motion planning II, slides
  • Reading

Feb 14

  • Lecture
    • Planning in Dynamic and Partially-known Environments, slides
  • Reading

Week 6

Feb 26

  • Lecture
    • Parametric (Gaussian) Filters, slides

Week 7

March 4

  • Lecture
    • Review of the EKF and Adaptive Filters, slides

March 6

  • Lecture
    • The Unscented Kalman Filter and Particle Filter, slides

March 18

  • Lecture
    • Post-mortem, Project III
    • Applied control theory, slides

March 20

  • Lecture
    • Control of Mobile Robots, slides, paper (Sections 2.3, 3.1 through Page 9, 3.2, 3.3 through Page 11)

April 3

  • Lecture
    • Navigation Functions, slides
    • Sampling-based Path Planning, slides (overview)

April 8

  • Lecture
    • Presentation of two project 3 results
    • Sampling-based Path Planning, slides (sampling theories and sequences I)
  • Reading
    • [LaValle 05] Ch. 5.2

April 11

  • Lecture
    • Sampling-based Path Planning, slides (sampling theories and sequences II)
  • Reading
    • [LaValle 05] Ch. 5.2

April 15

  • Lecture
    • Sampling-based Path Planning, slides (sampling based algorithms)
  • Reading
    • [LaValle 05] Ch. 5.5 and 5.6