Course Schedule
Document Actions
| Date | Topics | Assigned Readings/Handouts (Unless otherwise noted, the assigned readings are in the Murphy text) |
Homeworks |
| Thurs. 1/11 |
Course introduction, overview. Introduction to Player/Stage robot simulator. Lecture slides |
Paper introducing Player
Player/Stage Getting Started Guide (UTK-specific) Player/Stage Documentation (Public-domain website) |
Assigned: HW1 |
| Tues. 1/16 |
No lecture |
FYI: Info on Prof. Parker's Distributed Intelligence Lab | |
| Thurs. 1/18 | Big Picture: overview of issues and challenges in autonomous robotics
Lecture slides |
Example Makefile for compiling Player client programs | |
| Tues. 1/23 | History of Intelligent Robotics
Lecture slides |
Chapter 1
Additional Reading: "Chapter 1: Whence Behavior", pages 1-20, from Arkin, MIT Press, 1998" (handed out in class on 1/25) |
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| Thurs. 1/25 | Hierarchical Paradigm and STRIPS
Lecture slides |
Chapter 2 | Assigned: HW2 |
| Tues. 1/30 | Biological Foundations
Lecture slides |
Chapter 3 | |
| Thurs. 2/1 | Robot Behavior
(Guest lecture by Rasko Pjesivac) Lectures slides |
Additional Reading: "Chapter 3: Robot Behavior", pages 65-121, from Arkin, MIT Press, 1998 (handed out in class) | |
| Tues. 2/6 | Behavior-Based Paradigm: Part I
Lecture slides |
Chapter 4 | |
| Thurs. 2/8 | Behavior-Based Paradigm: Part II
Lecture notes |
Assigned: HW3 |
|
| Tues. 2/13 | Designing Behavior-Based Systems
In-class team design competition: DARPA Urban Challenge Lecture notes |
(Excerpts from DARPA Urban Challenge Rules
for design competition)
Chapter 5 |
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| Thurs. 2/15 | EXAM 1 (closed book, closed notes) |
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| Tues. 2/20 | Review Exam 1 Sensing Sensing I Lecture slides |
Chapter 6 | |
| Thurs.2/22 | Sensing (con't.)
Sensing II lecture slides Path Planning Path Planning I lecture slides |
Chapter 10 | |
| Tues. 2/27 | Path Planning (con't.)
Path Planning II lecture slides |
Chapter 9 | |
| Thurs. 3/1 | Path Planning (con't.)
Representational Issues Path Planning III lecture slides |
Assigned: HW4 Also: HW4: Appendix
Assigned: Final Project |
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| Tues. 3/6 | Localization and Mapping
Localization & Mapping I Lecture slides |
Chapter 11 | |
| Thurs. 3/8 | Localization and Mapping (con't.)
Localization and Mapping II Lecture slides |
Additional Reading: Fox, et al, AAAI-99 article (handed out in class); also available here. | |
| Tues. 3/13 | No class; spring break | ||
| Thurs. 3/15 | No class; spring break | ||
| Thurs. 3/22 | EXAM 2 (closed book, closed notes) | ||
| Tues. 3/27 | Hybrid deliberative/reactive
Lecture slides |
Chapter 7 | |
| Thurs. 3/29 | Multi-Robot Systems
Multi-Robot Lecture slides I |
Chapter 8
Additional Reading: Parker, "Multiple Mobile Robot Systems" (robotics handbook chapter draft) (handed out in class) |
Assigned: HW5 |
| Tues. 4/3 | Multi-Robot Systems (con't.)
Multi-Robot Lecture slides II |
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| Thurs. 4/5 | Evaluating Robot Systems
Evaluating Robot Systems |
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| Tues. 4/10 | Learning and Adaptive Behavior
Learning and Adaptive Beh. I |
Additional Reading: "Chapter 8: Adaptive Behavior", pages 305-357, from Arkin, MIT Press, 1998 (handed out in class on 4/5) | |
| Thurs. 4/12 | Learning and Adaptive Behavior (con't.)
Learning and Adaptive Beh. II |
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| Tues. 4/17 | Wrap-up of Learning and Adaptive Behavior
Learning and Adaptive Beh. III Future Directions and Course Summary Future directions slides |
Chapter 12 | |
| Thurs. 4/19 | In-class Predator-Prey software competition (HW #5)
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| Tues. 4/24 | Final project presentations
Schedule of presentations |
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| Thurs. 4/26 | Final project presentations
Schedule of presentations |
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| Monday 5/7 | Final Exam, 12:30-2:30 PM (Closed book, closed notes) |
