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CSE378: Introduction to Robotics

Spring 2019, Time: Tuesdays, Thursdays, 4.00–5.20pm, Frey Hall 205
Instructor: Minh Hoai Nguyen, New CS 153.
Office hours: Tuedays and Fridays 2.30–4pm
TA: TBA.

Grading

There will be three homework assignments, two exams, and a final project.

  • Three homework assignments: 30%

  • Exams and quizzes: 40%

    • Exam 1: 10%

    • Exam 2: 15%

    • Popup quizzes: 15%

    • No final exam

  • Project: 30%

    • Proposal: 3%

    • Pictures of assembled robot: 5%

    • Progress demo: 7%

    • Final demo: 10%

    • Final report: 5%

Weights are approximate and subject to change. You are expected to do homework assignments by yourselves. Even if you discuss them with your classmates, you should turn in your own code and write-up. You can have one sheet of paper with notes in the exams.

Tentative Syllabus

Date Topic Readings Assignments
29-Jan-2019 Introduction RVC, Chapter 1
31-Jan Sensor
05-Feb Sensor
07-Feb Representing Position and Orientation RVC, Chapter 2 HW1 out
12-Feb Representing Position and Orientation RVC, Chapter 2
14-Feb Time and Motion RVC, Chapter 3
19-Feb Mobile robots RVC, Chapter 4
21-Feb Mobile robots RVC, Chapter 4 HW1 due. HW2 out
26-Feb Navigation - Bioinspiration RVC, Chapter 5
28-Feb Navigation - Methods RVC, Chapter 5
05-Mar Navigation - Methods RVC, Chapter 6
07-Mar Localization - Probabilistic Robotics RVC, Chapter 6
12-Mar HW2 Class Demo HW2 due.
14-Mar No lecture. Exam 1 RVC, Chapter 7 Exam 1
19-Mar Spring break - no class
21-Mar Spring break - no class
26-Mar Localization - Histogram Filter RVC, Chapter 7 Project proposal due
28-Mar Robot Arm Kinematics RVC, Chapter 7 HW3 out
02-Apr Robot Arm Inverse Kinematics RVC, Chapter 7
04-Apr Inverse Kinematics - Jacobian RVC, Chapter 8
09-Apr Computer Vision - Seeing RVC, Chapter 10 Photos of assembled robot
11-Apr Computer Vision - Image Formation RVC, Chapter 11 HW3 due
16-Apr Computer Vision - multi-view RVC, Chapter 14
18-Apr Progress check - class demo Class demo
23-Apr Computer Vision - Image feature RVC, Chapter 13
25-Apr Final lecture. Course review
30-Apr No lecture. Exam 2 Exam 2
02-May Public Project demo CS lobby. 4-7pm
07-May Guest lecture Project report due
09-May Guest lecture Robot/harware return

Textbook

Robotics, Vision, and Control by Peter Corke.