Murray Wiki - User contributions [en]

ME/CS 132b, Spring 2013

2013-05-06T22:05:24Z

Ajose:

{| width=100%
|-
| colspan=2 align=center |
Advanced Robotics: Navigation and Vision
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Joel Burdick, jwb@robotics.caltech.edu
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Alex Jose (ajose@caltech.edu)
* Mary Nguyen (mary.nguyen@caltech.edu)
* Office hours: TBA
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])

* This list has been updated. If you did not receive a subscription email, please subscribe using the link.
</td></tr>
</table>

== Announcements ==
* 4/30/2013: No class on May 7th and 9th. Instead, this week will be spent on the lab.
* 4/16/2013: A handout on [[media:cobstacle_param.pdf | Parametrizing C-obstacles]] was distributed in class
* 4/11/2013: A handout on the [[media:StarAlgorithm.pdf | Star Algorithm]] for computing fixed orientation c-obstacle slices was handout out in class.
* 4/11/2013: A handout on [[media:cobstacle.pdf | configuration space obstacles]] was handed out in class.
* 4/11/2013: Homework #1 has been distributed. An online version can be [[media:ME132Homework1.pdf | found here]]
* First lecture on 4/2 at 2:30 pm in Room 306 Thomas. An [[media:ME132Overview.pdf | Overview of the course]].
* Link to [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013 ME 132(a) Wiki Page]

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course, other than ME/CS 132(a). Some of the required background material will be reviewed during the first weeks of lecture. The theory part of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the first quarter of the course, and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.

=== Grading ===
ME/CS 132(b) is primarily a project-based course. The grade will be based on 2 homeworks (20% of total grade) and two week-long labs (10% of total grade each). Sixty percent (60%) of the grade will be based on a final project which is due on the last day of the finals period. The final project can potentially be done in teams, with the instructor's approval.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to the TAs (me132-tas at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. The one-week labs this quarter are intended to help get the students prepared for the final project.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There is only one required textbook, which is freely available on the web:
* Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider buying the text (the last time I checked, it was reasonably priced). Information is available on the book website.

Some of the course material on sensor-based robot motion planning is better covered in this optional 
reference book:
* Principles of Robot Motion: Theory, Algorithms, and Implementation, by H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun , MIT Press, 2007.
* An on-line [http://biorobotics.ri.cmu.edu/book/booboo_book.pdf Errata Page] is available.

The Thrun, Burgard, and Fox book used last quarter will continue to be a useful optional reference. If you have bought the book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. This book is most likely to come in handy for some choices of final project.

== Lecture Schedule/handouts/homeworks/lab ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Homework
|-
|rowspan=2 align="center" | 1
|2 Apr (Tu)
|Course Overview, Intro. to Motion Planning
|Lavalle Chapter 1
| -N/A-
|-
| 4 Apr (Th)
| No Class on this date 
| Lavalle Chapter 1
| -N/A -
|-
|rowspan=2 align="center" | 2
|9 Apr (Tu)
|Configuration Space Obstacles (c-obstacles)
| Lavalle Chapter 4.3 (starting on Page 155) on Configuration Space Obstacles
|
|-
|11 Apr (Th)
|C-Obstacles (cont.) and overview of c-space planning
|[[media:StarAlgorithm.pdf| Notes on the Star Algorithm]]; [[media:cobstacle.pdf | Notes on configuration space Obstacles]]
| [[media:ME132Homework1.pdf | Homework 1]] '''due 04/19/13'''
|-
|rowspan=2 align="center" | 3
|16 Apr (Tu)
|Parametrizing Configuration Space Obstacles, Intro to Classical Motion Planning
| [[media:cobstacle_param.pdf | Notes on parametrizing c-obstacles]]
|
|-
|18 Apr (Th)
| Classical Motion Planning: roadmaps and the Visibility Graph
| Lavalle 250-251, 261-264
|
|-
|rowspan=2 align="center" | 4
|23 Apr (Tu)
| More Roadmaps: The Voronoi Diagram
|
| [[media:ME132Homework2.pdf | Homework 2]] '''due 05/02/13'''
|-
|25 Apr (Th)
| Intro to Sensor-Based Motion Planning
|
|
|}

== Homework/Labs ==
* [[media:ME132Homework1.pdf | Homework 1]]
** '''Subject:''' configuration space obstacles of planar polygonal bodies.
** '''Due Date:''' Friday, April 19, 2013 by 5pm.
** '''Solution:''' [[media:HW1Solution.zip | Homework 1 Solution]]
* [[media:ME132Homework2.pdf | Homework 2]]
** '''Subject:''' 2D roadmaps.
** '''Due Date:''' Thurs, May 2, 2013 by 5pm.
** '''Solution:''' [[media:set2.tar.gz | Homework 2 Solution]]
* [[media:Lab1.pdf | Lab 1]]
** '''Subject:''' Wall Following.
** '''Due Date:''' Thurs, May 16, 2013 by 5pm.

== Final Project Information ==
* [[media: FinalProject.pdf | Final Project]]
** '''Preproposal Due Date:''' Thurs, May 16, 2013 by 5pm to Joel Burdick
** '''Project Due Date:''' Fri, June 14, 2013 by 5pm to Joel Burdick

File:Set2.tar.gz

2013-05-06T22:03:36Z

Ajose:

ME/CS 132b, Spring 2013

2013-05-06T22:00:41Z

Ajose:

{| width=100%
|-
| colspan=2 align=center |
Advanced Robotics: Navigation and Vision
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Joel Burdick, jwb@robotics.caltech.edu
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Alex Jose (ajose@caltech.edu)
* Mary Nguyen (mary.nguyen@caltech.edu)
* Office hours: TBA
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])

* This list has been updated. If you did not receive a subscription email, please subscribe using the link.
</td></tr>
</table>

== Announcements ==
* 4/30/2013: No class on May 7th and 9th. Instead, this week will be spent on the lab.
* 4/16/2013: A handout on [[media:cobstacle_param.pdf | Parametrizing C-obstacles]] was distributed in class
* 4/11/2013: A handout on the [[media:StarAlgorithm.pdf | Star Algorithm]] for computing fixed orientation c-obstacle slices was handout out in class.
* 4/11/2013: A handout on [[media:cobstacle.pdf | configuration space obstacles]] was handed out in class.
* 4/11/2013: Homework #1 has been distributed. An online version can be [[media:ME132Homework1.pdf | found here]]
* First lecture on 4/2 at 2:30 pm in Room 306 Thomas. An [[media:ME132Overview.pdf | Overview of the course]].
* Link to [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013 ME 132(a) Wiki Page]

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course, other than ME/CS 132(a). Some of the required background material will be reviewed during the first weeks of lecture. The theory part of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the first quarter of the course, and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.

=== Grading ===
ME/CS 132(b) is primarily a project-based course. The grade will be based on 2 homeworks (20% of total grade) and two week-long labs (10% of total grade each). Sixty percent (60%) of the grade will be based on a final project which is due on the last day of the finals period. The final project can potentially be done in teams, with the instructor's approval.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to the TAs (me132-tas at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. The one-week labs this quarter are intended to help get the students prepared for the final project.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There is only one required textbook, which is freely available on the web:
* Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider buying the text (the last time I checked, it was reasonably priced). Information is available on the book website.

Some of the course material on sensor-based robot motion planning is better covered in this optional 
reference book:
* Principles of Robot Motion: Theory, Algorithms, and Implementation, by H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun , MIT Press, 2007.
* An on-line [http://biorobotics.ri.cmu.edu/book/booboo_book.pdf Errata Page] is available.

The Thrun, Burgard, and Fox book used last quarter will continue to be a useful optional reference. If you have bought the book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. This book is most likely to come in handy for some choices of final project.

== Lecture Schedule/handouts/homeworks/lab ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Homework
|-
|rowspan=2 align="center" | 1
|2 Apr (Tu)
|Course Overview, Intro. to Motion Planning
|Lavalle Chapter 1
| -N/A-
|-
| 4 Apr (Th)
| No Class on this date 
| Lavalle Chapter 1
| -N/A -
|-
|rowspan=2 align="center" | 2
|9 Apr (Tu)
|Configuration Space Obstacles (c-obstacles)
| Lavalle Chapter 4.3 (starting on Page 155) on Configuration Space Obstacles
|
|-
|11 Apr (Th)
|C-Obstacles (cont.) and overview of c-space planning
|[[media:StarAlgorithm.pdf| Notes on the Star Algorithm]]; [[media:cobstacle.pdf | Notes on configuration space Obstacles]]
| [[media:ME132Homework1.pdf | Homework 1]] '''due 04/19/13'''
|-
|rowspan=2 align="center" | 3
|16 Apr (Tu)
|Parametrizing Configuration Space Obstacles, Intro to Classical Motion Planning
| [[media:cobstacle_param.pdf | Notes on parametrizing c-obstacles]]
|
|-
|18 Apr (Th)
| Classical Motion Planning: roadmaps and the Visibility Graph
| Lavalle 250-251, 261-264
|
|-
|rowspan=2 align="center" | 4
|23 Apr (Tu)
| More Roadmaps: The Voronoi Diagram
|
| [[media:ME132Homework2.pdf | Homework 2]] '''due 05/02/13'''
|-
|25 Apr (Th)
| Intro to Sensor-Based Motion Planning
|
|
|}

== Homework/Labs ==
* [[media:ME132Homework1.pdf | Homework 1]]
** '''Subject:''' configuration space obstacles of planar polygonal bodies.
** '''Due Date:''' Friday, April 19, 2013 by 5pm.
** '''Solution:''' [[media:HW1Solution.zip | Homework 1 Solution]]
* [[media:ME132Homework2.pdf | Homework 2]]
** '''Subject:''' 2D roadmaps.
** '''Due Date:''' Thurs, May 2, 2013 by 5pm.
** '''Solution:''' [[media:set2.py | Homework 2 Solution]]
* [[media:Lab1.pdf | Lab 1]]
** '''Subject:''' Wall Following.
** '''Due Date:''' Thurs, May 16, 2013 by 5pm.

== Final Project Information ==
* [[media: FinalProject.pdf | Final Project]]
** '''Preproposal Due Date:''' Thurs, May 16, 2013 by 5pm to Joel Burdick
** '''Project Due Date:''' Fri, June 14, 2013 by 5pm to Joel Burdick

ME/CS 132b, Spring 2013

2013-04-17T01:36:06Z

Ajose: /* Announcements */

{| width=100%
|-
| colspan=2 align=center |
Advanced Robotics: Navigation and Vision
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Joel Burdick, jwb@robotics.caltech.edu
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Alex Jose (ajose@caltech.edu)
* Mary Nguyen (mary.nguyen@caltech.edu)
* Office hours: (For HW1) Tuesday, 4/16 8p-9p in SFL 2-4 & Thursday, 4/18 1p-2p in SFL 2-2

'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])

* This list has been updated. If you did not receive a subscription email, please subscribe using the link.
</td></tr>
</table>

== Announcements ==
* 4/16/2013: A handout on [[media:cobstacle_param.pdf | Parametrizing C-obstacles]] was distributed in class
* 4/11/2013: A handout on the [[media:StarAlgorithm.pdf | Star Algorithm]] for computing fixed orientation c-obstacle slices was handout out in class.
* 4/11/2013: A handout on [[media:cobstacle.pdf | configuration space obstacles]] was handed out in class.
* 4/11/2013: Homework #1 has been distributed. An online version can be [[media:ME132Homework1.pdf | found here]]
* First lecture on 4/2 at 2:30 pm in Room 306 Thomas. An [[media:ME132Overview.pdf | Overview of the course]].
* Link to [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013 ME 132(a) Wiki Page]

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course, other than ME/CS 132(a). Some of the required background material will be reviewed during the first weeks of lecture. The theory part of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the first quarter of the course, and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, Python, or MATLAB.

=== Grading ===
ME/CS 132(b) is primarily a project-based course. The grade will be based on 2 homeworks (20% of total grade) and two week-long labs (10% of total grade each). Sixty percent (60%) of the grade will be based on a final project which is due on the last day of the finals period. The final project can potentially be done in teams, with the instructor's approval.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to the TAs (me132-tas at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. The one-week labs this quarter are intended to help get the students prepared for the final project.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There is only one required textbook, which is freely available on the web:
* Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider buying the text (the last time I checked, it was reasonably priced). Information is available on the book website.

Some of the course material on sensor-based robot motion planning is better covered in this optional 
reference book:
* Principles of Robot Motion: Theory, Algorithms, and Implementation, by H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun , MIT Press, 2007.
* An on-line [http://biorobotics.ri.cmu.edu/book/booboo_book.pdf Errata Page] is available.

The Thrun, Burgard, and Fox book used last quarter will continue to be a useful optional reference. If you have bought the book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. This book is most likely to come in handy for some choices of final project.

== Lecture Schedule/handouts/homeworks/lab ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Homework
|-
|rowspan=2 align="center" | 1
|2 Apr (Tu)
|Course Overview, Intro. to Motion Planning
|Lavalle Chapter 1
| -N/A-
|-
| 4 Apr (Th)
| No Class on this date 
| Lavalle Chapter 1
| -N/A -
|-
|rowspan=2 align="center" | 2
|9 Apr (Tu)
|Configuration Space Obstacles (c-obstacles)
| Lavalle Chapter 4.3 (starting on Page 155) on Configuration Space Obstacles
|
|-
|11 Apr (Th)
|C-Obstacles (cont.) and overview of c-space planning
|[[media:StarAlgorithm.pdf| Notes on the Star Algorithm]]; [[media:cobstacle.pdf | Notes on configuration space Obstacles]]
| [[media:ME132Homework1.pdf | Homework 1]] '''due 04/19/13'''
|-
|rowspan=2 align="center" | 3
|16 Apr (Tu)
|Parametrizing Configuration Space Obstacles, Intro to Classical Motion Planning
| [[media:cobstacle_param.pdf | Notes on parametrizing c-obstacles]]
|
|-
|18 Apr (Th)
| Classical Motion Planning: roadmaps and cellular decomposition
|
| [[media:ME132Homework2.pdf | Homework 2]] '''due 04/25/13'''
|-
|rowspan=2 align="center" | 4
|23 Apr (Tu)
| More Classical Planning Methods: From Cellular Decomposition to Potential Fields
|
|
|-
|25 Apr (Th)
| Intro to Sensor-Based Motion Planning
|
|
|}

== Homework/Labs ==
* [[media:ME132Homework1.pdf | Homework 1]]
** '''Subject:''' configuration space obstacles of planar polygonal bodies.
** '''Due Date:''' Friday, April 19, 2013 by 5pm.
* Homework 2
* Lab 1
* Lab 2

== Final Project Information ==

ME/CS 132b, Spring 2013

2013-04-17T01:31:04Z

Ajose:

{| width=100%
|-
| colspan=2 align=center |
Advanced Robotics: Navigation and Vision
|- valign=top
|}
<table width=100%>
<tr valign=top>
<td width=45%>
'''Instructors'''
* Joel Burdick, jwb@robotics.caltech.edu
* Lectures: Tue/Thu, 2:30-4 pm, 206 TOM
* Office hours: After class/by appointment
</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
* Alex Jose (ajose@caltech.edu)
* Mary Nguyen (mary.nguyen@caltech.edu)
* Office hours: (For HW1) Tuesday, 4/16 8p-9p in SFL 2-4 & Thursday, 4/18 1p-2p in SFL 2-2

'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
</td></tr>
</table>

== Announcements ==
* 4/16/2014: Student mailing list updated. Please let us know/sign up (above) if you're not receiving mail!
* 4/16/2013: A handout on [[media:cobstacle_param.pdf | Parametrizing C-obstacles]] was distributed in class
* 4/11/2013: A handout on the [[media:StarAlgorithm.pdf | Star Algorithm]] for computing fixed orientation c-obstacle slices was handout out in class.
* 4/11/2013: A handout on [[media:cobstacle.pdf | configuration space obstacles]] was handed out in class.
* 4/11/2013: Homework #1 has been distributed. An online version can be [[media:ME132Homework1.pdf | found here]]
* First lecture on 4/2 at 2:30 pm in Room 306 Thomas. An [[media:ME132Overview.pdf | Overview of the course]].
* Link to [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2013 ME 132(a) Wiki Page]

== Course Information ==
=== Prerequisites ===
There are no formal prerequisites for the course, other than ME/CS 132(a). Some of the required background material will be reviewed during the first weeks of lecture. The theory part of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the first quarter of the course, and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, Python, or MATLAB.

=== Grading ===
ME/CS 132(b) is primarily a project-based course. The grade will be based on 2 homeworks (20% of total grade) and two week-long labs (10% of total grade each). Sixty percent (60%) of the grade will be based on a final project which is due on the last day of the finals period. The final project can potentially be done in teams, with the instructor's approval.

* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to the TAs (me132-tas at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. The one-week labs this quarter are intended to help get the students prepared for the final project.

=== Collaboration Policy ===
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

=== Course Texts ===
There is only one required textbook, which is freely available on the web:
* Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider buying the text (the last time I checked, it was reasonably priced). Information is available on the book website.

Some of the course material on sensor-based robot motion planning is better covered in this optional 
reference book:
* Principles of Robot Motion: Theory, Algorithms, and Implementation, by H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun , MIT Press, 2007.
* An on-line [http://biorobotics.ri.cmu.edu/book/booboo_book.pdf Errata Page] is available.

The Thrun, Burgard, and Fox book used last quarter will continue to be a useful optional reference. If you have bought the book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. This book is most likely to come in handy for some choices of final project.

== Lecture Schedule/handouts/homeworks/lab ==
{| border=1 width=85%
|Week
|Date
|Topic
|Reading
|Homework
|-
|rowspan=2 align="center" | 1
|2 Apr (Tu)
|Course Overview, Intro. to Motion Planning
|Lavalle Chapter 1
| -N/A-
|-
| 4 Apr (Th)
| No Class on this date 
| Lavalle Chapter 1
| -N/A -
|-
|rowspan=2 align="center" | 2
|9 Apr (Tu)
|Configuration Space Obstacles (c-obstacles)
| Lavalle Chapter 4.3 (starting on Page 155) on Configuration Space Obstacles
|
|-
|11 Apr (Th)
|C-Obstacles (cont.) and overview of c-space planning
|[[media:StarAlgorithm.pdf| Notes on the Star Algorithm]]; [[media:cobstacle.pdf | Notes on configuration space Obstacles]]
| [[media:ME132Homework1.pdf | Homework 1]] '''due 04/19/13'''
|-
|rowspan=2 align="center" | 3
|16 Apr (Tu)
|Parametrizing Configuration Space Obstacles, Intro to Classical Motion Planning
| [[media:cobstacle_param.pdf | Notes on parametrizing c-obstacles]]
|
|-
|18 Apr (Th)
| Classical Motion Planning: roadmaps and cellular decomposition
|
| [[media:ME132Homework2.pdf | Homework 2]] '''due 04/25/13'''
|-
|rowspan=2 align="center" | 4
|23 Apr (Tu)
| More Classical Planning Methods: From Cellular Decomposition to Potential Fields
|
|
|-
|25 Apr (Th)
| Intro to Sensor-Based Motion Planning
|
|
|}

== Homework/Labs ==
* [[media:ME132Homework1.pdf | Homework 1]]
** '''Subject:''' configuration space obstacles of planar polygonal bodies.
** '''Due Date:''' Friday, April 19, 2013 by 5pm.
* Homework 2
* Lab 1
* Lab 2

== Final Project Information ==

SURF meetings, July 2012

2012-06-27T21:23:31Z

Ajose:

Please sign up for one of the slots below: __NOTOC__

{| width=100% border=1
|- valign=top
| width=20% |
==== Mon, 2 Jul ====
* 9:30 am: open
* 9:50 am: open
* 10:10 am: open
* 10:30 am: open
* 10:50 am: Adam (Andrea)
* 11:10 am: Alex (Scott & Pavithra)

| width=20% |

==== Tue, 3 Jul ====
* 9:20 am: open
* 9:40 am: open
 
* 11:50 am: Shaunak(Jongmin)
* 11:10 am: Patrik(Jongmin)

| width=20% |
==== Wed, 4 Jul ====
* Institute holiday

| width=20% |
==== Thu, 5 Jul ====
* No calls

| width=20% |
==== Fri, 6 Jul ====
* 9:20 am: open
* 9:40 am: open
|}

Group Schedule, Summer 2012

2012-06-22T09:24:50Z

Ajose:

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF update (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Research presentation (30-40 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Ufuk (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Anu (30-40 min)
* Research presentation [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Zach (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Mon
|}

ME/CS 132a, Winter 2012, Lab 2 Sign-Up

2012-03-08T23:42:45Z

Ajose:

==Things to Do==

Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|12 March 2012 (Mon)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|13 March 2012 (Tue)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
| Martin Michelsen and Ilya Nepomnyashchiy
|-
|3-3:30pm
|
|-
|4-4:30pm
| Mary Nguyen, Alex Jose, Wei Dai
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
'''Note to students: Do NOT edit this section.''' 
{|border=1 width=80%
!colspan=2 width=40%|RPIN Assignment
!colspan=2 width=40%|RPIN Assignment
|-
|Port Number
|Name
|Port Number
|Name
|-
|6665
|<DEFAULT>
|6666
|Ilya Nepomnyashchiy
|-
|6667
|Brad Saund
|6668
|HongAn Nguyen
|-
|6669
|Chuan-Song Alan
|6670
|Alex Jose
|-
|6671
|Tuan Anh
|6672
|Daniil Kitchaev
|-
|6673
|Martin Michelsen
|6674
|Vivian Zhang
|-
|6675
|Russelln russelln
|6676
|Riley Patterson
|-
|6677
|Supriya Iyer
|6678
|Timothy MacDonald
|-
|6679
|Wei Dai
|6680
|Yifei Huang
|-
|6681
|Kristen Holtz
|6682
|Arun Venkatraman
|}

ME/CS 132a, Winter 2012, Lab 1 Sign-Up

2012-02-03T00:28:10Z

Ajose:

==Things to Do==
'''As an individual''':
* Sign up for an account on the lab server via this [https://docs.google.com/spreadsheet/viewform?hl=en_US&formkey=dEVCVEYtcHFmVTNKVGNITTAwWEE3V1E6MA#gid=0 link].

'''As a group (2-3 people)''':
* Sign up for a time slot for the lab session by modifying this wiki page. You need to first log in by clicking the link at the upper right corner of this page and enter your Caltech IMSS account/password. Remember to fill in everyone's name in your group.

==Schedule for Lab Session==
{|border=1 width=70%
!colspan=2|10 Feb 2011 (Thu)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|Open
|-
|2-2:30pm
|
|-
|3-3:30pm
|
|-
|4-4:30pm
|
|-
|5-5:30pm
|
|}

{|border=1 width=70%
!colspan=2|11 Feb 2011 (Fri)
|-
|width=20%|'''Time'''
|'''Names'''
|-
|1-1:30pm
|
|-
|2-2:30pm
|
|-
|3-3:30pm
|Chuan-Song Alan Lin, Tuan Anh Le
|-
|4-4:30pm
|Mary Nguyen, Alex Jose
|-
|5-5:30pm
|
|-
|}

==RPIN Assignment==
'''Note to students: Do NOT edit this section.'''