Course Schedule

Week

Day

Topics

Assignments

Week 1

Mon 1/14
 

Course Overview, Logistics
Waitlist students talk to Dr. Choset

HW1: C Programming
(due Tue, Jan 22)

Tue 1/15
 

Intro to C Programming I

--

Wed 1/16
 

Assign Teams/Attendance
Computer Vision

HW2: Rube Goldberg (Lab 1)
(due Thurs, Jan 24)

Week 2

Mon 1/21
 

Vision

--

Tue 1/22
 

C Continued

HW1 due at beginning of class

Wed 1/23
 

Demo Lab 1
Location: REL

HW3: Vision Programs (Lab 2)
(due Tue, Jan 29)

Thu 1/24
 

--

HW2 due 11:59PM electronically

Week 3

Mon 1/28
 

Vision Problems

--

Tue 1/29
 

Hand out Lego Kits (mandatory)
Location: REL

HW3 due by 3:30 PM electronically

Wed 1/30
 

Handy Board & Lego Controls & The Art of Lego

HW4: Braitenberg Vehicles (Lab 3)
(due Tue, Feb 5)

Week 4

Mon 2/4
 

Guest speaker

--

Tue 2/5
 

Demo Lab 3
Location: REL

HW4 due by 3:30 PM electronically

Wed 2/6
 

Controls
Motion Planning: Bug, Potential, C-Space

HW5 :Low-Level Base (Lab 4)
(due Wed, Feb 13)

Week 5

Mon 2/11
 

Motion Planning: Road Maps, Configuration Spaces

--

Tue 2/12
 

Demo Lab 4

--

Wed 2/13
 

Motion Planning: Roadmaps, continued.
Cell Decompositions and Coverage

HW6: Motion Planning (Lab 5)
(due Wed, Feb 20)
HW5 due at beginning of class

Week 6

Mon 2/18
 

Guest Speaker Chris Urmson
(Urban Challenge Team Lead)

--

Tue 2/19
 

No class: Prep for Motion Planning

Wed 2/20
 

Demo Lab 5
Assign Lab 6 in parallel

HW6 due at beginning of class
HW7: Sensors (Lab 6)
(due Tue, Mar 4)

Week 7

Mon 2/25
 

Finish Path Planning, Sensors

--

Tue 2/26
 

Midterm Review

--

Wed 2/27
 

-- MIDTERM --

--

Week 8

Mon 3/3
 

Explain USAR Project
Locomotion

HW8/9/10: USAR (Lab 7)
(due Mar 18, 25; Apr 1, 2)

Tue 3/4
 

DEMO Lab 6

--

Wed 3/5
 

Go over midterm
Inertial Navigation Systems

--  

Spring Break

Week 9

Mon 3/17
 

Midsemester Evaluations
Overview of Kinematics
Coordinate Transformations Intro

--

Tue 3/18
 

Matrix Transformations

HW8 (Design Proposal) due in class

Wed 3/19
 

3D Example
Evaluate Design Proposals (Groups)

Week 10

Mon 3/24
 

USAR Open Lab Hours
USAR Prototype Evaluations

--

Tue 3/25
 

Open Lab Hours
USAR Prototype Evaluations

HW9 (Lab 7) due at 8pm

Wed 3/26
 

USAR Prototype Selection
Feedback in Class and Final Contest Prep

--

Week 11

Mon 3/31
 

NO CLASS (USAR Preparation )

--

Tue 4/1
 

USAR Demos (by appointment)

HW10 due

Wed 4/2
 

USAR Final Competition:
Location: REL (NSH 3206)
Time: 10:30-12:30

--

Week 12

Mon 4/7
 

USAR Wrapup
Forward Kinematics Denavit & Hartenberg

--

Tue 4/8
 

Forward Kinematics

HW11: Forward Kinematics (Lab 8)
(due Wed, Apr 16)

Wed 4/9
 

Inverse Kinematics

-- 

Week 13

Mon 4/14
 

Inverse Kinematics

Meet Final Contest Team

Tue 4/15
 

Demo Lab 8

HW12: Inverse Kinematics (Lab 9)
(due Wed, Apr 23)

Wed 4/16
 

Space Robots

HW11 due at beginning of class

Week 14

Mon 4/21
 

Non-Holonomic Path Planning

--

Tue 4/22
 

Non-holonomic Path Planning (Part 2)

HW13: Final Contest (Lab 10)
(due Wed, April 30)

Wed 4/23
 

Demo Lab 9

HW12 due at beginning of class

Week 15

Mon 4/28
 

Final Review

--

Tue 4/29
 

Review for Final

--

Wed 4/30
 

Demo Lab 10 (Final Contest)

HW13 due at beginning of class

Finals Week

Tue, 5/6
 

FINAL EXAM
Time: 8:30-11:30 AM
Location: TBA

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