https://murray.cds.caltech.edu/api.php?action=feedcontributions&user=Andrea&feedformat=atomMurray Wiki - User contributions [en]2021-07-24T22:49:08ZUser contributionsMediaWiki 1.35.2https://murray.cds.caltech.edu/index.php?title=SURF_2011&diff=12679SURF 20112011-06-13T00:06:11Z<p>Andrea: </p>
<hr />
<div>This page is intended for students working on SURF projects in the Summer of 2011. Mainly for meet to keep track of everything that is going on. __NOTOC__<br />
<br />
=== Students ===<br />
{| width=100% border=1<br />
|-<br />
| Student<br />
| Mini-group<br />
| Co-mentor(s)<br />
| Project<br />
| Comments<br />
|-<br />
| Chandrasekhar, Arjun || Biocircuits || (Emzo) || Simulac || <br />
|-<br />
| Chinchali, Sandeep || Robotics || Scott || LTL grasping ||<br />
|-<br />
| Håkansson, Magnus || Robotics || Andrea || Bootstrapping ||<br />
|-<br />
| Khetarpal, Ishan || Biocircuits || Jongmin || Event detector ||<br />
|-<br />
| Lin, Yuchen || NCS || Necmiye, Scott || TuLiP user interface ||<br />
|-<br />
| Nguyen, Paul || Biocircuits || Joe || sRNA delay circuits ||<br />
|-<br />
| Nilsson, Peter || NCS || Necmiye, Ufuk || TuLiP abstraction algorithms ||<br />
|-<br />
| Sapatnekar, Keshav || Biocircuits || Emzo || Scaffold protein sensor ||<br />
|-<br />
| Tsuei, Stephanie || Robotics || Necmiye || Distributed camera network ||<br />
|-<br />
| Zemlianova, Klavdia || Robotics || (Sawyer) || Multi-modal insect flight control || 20 Jun start <br />
|}<br />
<br />
* iGEM: Brown, Julia; Cheng, Puikei; Shelton, Amanda; Thadani, Nicole<br />
* Solar Decathlon: Jones, Sam; Lu, David; Suen, Ka<br />
<br />
=== Meetings on 20-21 June ===<br />
I'd like to have a 30 minute meeting with all summer undergraduates on either 20 or 21 June to kick off the summer (I am out of town the week of 13 June, when many of you start). This meeting should be with me and (one of) you co-mentor(s). Please check with the appropriate co-mentor before signing up, to make sure they can also make that time.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=60% |<br />
==== 20 June 2011 (Mon) ====<br />
{| cellpadding=0 cellspacing=0 width=100%<br />
|- valign=top<br />
| wdith=50% |<br />
{{agenda begin}}<br />
{{agenda item|11:30a|Stephanie and Necmiye}}<br />
{{agenda item|12:00p|Magnus and Andrea}}<br />
{{agenda end}}<br />
| width=50% |<br />
{{agenda begin}}<br />
{{agenda item|4:30p|Ishan and Jongmin}}<br />
{{agenda item|5:00p|Keshav and Emzo}}<br />
{{agenda item|5:30p|Paul and Joe}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
|}<br />
| width=30% |<br />
<br />
==== 21 June 2011 (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|11:00a|Open}}<br />
{{agenda item|11:30a|Open}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Original project descriptions ===<br />
<br />
This section contains a list of project areas where I will be supervising projects this year. (OBSOLETE:) Students interested in writing proposals for SURF projects should contact me via e-mail to discuss what areas they are interested in and talk through possible SURF proposal topics. All applications should go through the normal SURF application process, described at www.surf.caltech.edu.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''<br />
|-<br />
| [[SURF 2011: Synthetic biology in a cell-free expression system|Synthetic biology in a cell-free expression system]]<br />
| [[Molecular Programming Project|MPP]]<br />
| Jongmin Kim<br />
|<br />
|-<br />
| [[SURF 2011: Design of Biomolecular Circuits Using Programmable Protein Scaffolds|Design of Biomolecular Circuits Using Programmable Protein Scaffolds]]<br />
| [[Biomolecular Feedback Circuits for Modular, Robust and Rapid Response|ICB]]<br />
| Emzo de los Santos<br />
|<br />
|-<br />
| [[SURF 2011: Effects of Topology on DNA Transcription|Effects of Topology on DNA Transcription]]<br />
| [[Biomolecular Feedback Circuits for Modular, Robust and Rapid Response|ICB]]<br />
| Joseph T. Meyerowitz<br />
|<br />
|-<br />
| [[SURF 2011: Receding Horizon Temporal Logic Planning Toolbox|Receding Horizon Temporal Logic Planning Toolbox]]<br />
| [[Distributed_Sense_and_Control_Systems|MuSyC]]<br />
| Ufuk Topcu<br />
|<br />
|-<br />
| [[SURF 2011: Implementation of Control Protocols for Camera Networks|Implementation of Control Protocols for Camera Networks]]<br />
| [[Distributed_Sense_and_Control_Systems|MuSyC]]<br />
| Necmiye Ozay<br />
|<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=June_2011_meetings&diff=12562June 2011 meetings2011-05-31T15:48:26Z<p>Andrea: /* 6 Jun (Mon) */</p>
<hr />
<div>__NOTOC__<br />
{| border=1 width=100%<br />
|- valign=top<br />
| width=20% |<br />
<br />
| width=20% |<br />
<br />
| width=20% |<br />
==== 1 Jun (Wed) ====<br />
* 9:15a - Ye <br />
* 10:00a - Matanya<br />
* 11:00a - Marcella<br />
* 1:00p - Anu<br />
* 3:00p - CDS tea<br />
* 4:00p - Fei Y<br />
* 5:00p - (Shuo; lab stuff)<br />
* 5:30p - Dionysios<br />
* 6:30p - Shaunak<br />
| width=20% |<br />
==== 2 Jun (Thu) ====<br />
* 10:00a - Biocircuits<br />
* 12:00p - Group meeting<br />
* 5:30p - Necmiye<br />
| width=20% |<br />
==== 3 Jun (Fri) ====<br />
* UCLA<br />
* BE BBQ<br />
|- valign=top<br />
| width=20% |<br />
==== 6 Jun (Mon) ====<br />
* 10:00a - Vanessa<br />
* 11:00a - Henry J<br />
* 12:30p - Robotics<br />
* 5:30p - Andrea<br />
* 6:30p - Open<br />
| width=20% |<br />
<br />
==== 7 Jun (Tue) ====<br />
* 10:00a - NCS<br />
* 12:00p - Group meeting<br />
* 3:30p - Scott Livingston<br />
* 4:30p - Open<br />
* 5:30p - Ufuk<br />
* 6:30p - Open<br />
| width=20% |<br />
<br />
==== 8 Jun (Wed) ====<br />
* 9:30a - Eric<br />
* 10:30a - Open<br />
* 11:30a - Open<br />
* 1:00p - Open<br />
* 2:00p - Emzo<br />
* 3:00p - CDS tea<br />
* 5:30p - Open<br />
* 6:30p - Open<br />
* 7:30p - Open<br />
| width=20% |<br />
<br />
==== 9 Jun (Thu) ====<br />
* 11:30a - Open<br />
* 1:00p - Open<br />
* 2:00p - Open<br />
* 3:00p - CDS 90 <br />
* 4:30p - Enoch Yeung <br />
* 5:30p - Open<br />
* 6:30p - Open<br />
| width=20% |<br />
<br />
==== 10 Jun (Fri) ====<br />
* 5:30p - Open<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2011&diff=12496ME/CS 132b, Spring 20112011-05-06T02:54:35Z<p>Andrea: </p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Tue, 4-5 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 21 Apr 2011: Lab #1 has been posted. It is due 2:30pm, 5 May. You will also need to sign up for a time slot [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here] before coming to the lab session.<br />
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.<br />
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.<br />
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.<br />
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.<br />
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf). <br />
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.<br />
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Detail of this will be announced later in the course.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. 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.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|29 Mar (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]<br />
|Tom Howard<br />
|-<br />
|31 Mar (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|5 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|7 Apr (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|12 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms I] <br />
|Yoshi Kuwata<br />
|-<br />
|14 Apr (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec06.pdf Search Algorithms II]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|19 Apr (Tu)<br />
|Navigtion and Control<br />
|Yoshi Kuwata<br />
|-<br />
|21 Apr (Th)<br />
|Motion Planning and Navigation Case Studies<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|26 Apr (Tu)<br />
|Week-long lab<br />
|<br />
|-<br />
|28 Apr (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|3 May (Tu)<br />
|System Case Studies<br />
|TBA<br />
|-<br />
|5 May (Th)<br />
|System Case Studies (cont'd)<br />
|TBA<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|10 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|12 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|17 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|19 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|24 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|26 May (Th)<br />
|Project Presentation<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln02.zip Solution]<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/soln03.zip Solution]<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01.pdf Lab 1] (Due: 2:30pm, 5 May)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_FAQ FAQ], Solution<br />
* Sign up for a time slot as a group (2-3 people) [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Lab_1_Sign-Up here].<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/lab01_material.zip this zip file].<br />
<br />
== Older Announcements ==<br />
There are no older announcements.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Spring_2011&diff=12413Group Schedule, Spring 20112011-04-19T05:50:05Z<p>Andrea: /* Group Meetings */</p>
<hr />
<div>__NOTOC__<br />
This page contains information about various upcoming events that are of interest to the group.<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2011]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are at noon in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).<br />
{| width=100% border=1<br />
|- valign=top<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|22 Apr (Fri)|Open}}<br />
{{agenda item|27 Apr (Wed)|Hold: Vanessa}}<br />
{{agenda item|2 May (Mon)|Andrea}}<br />
{{agenda end}}<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|11 May (Wed)|Joseph T. Meyerowitz}}<br />
{{agenda item|16 May (Mon)|Hold: visitor}}<br />
{{agenda item|26 May (Thu)|Emzo de los Santos}}<br />
{{agenda end}}<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|2 Jun (Thu)|Marcella}}<br />
{{agenda item|7 Jun (Tue)|Mumu}}<br />
{{agenda end}}<br />
|}<br />
<br />
== Mini-group meetings ==<br />
<br />
Below are the scheduled times for mini-group meetings. Updates to times are possible to accommodate scheduling conflicts. Changes from the original schedule are highlighted in blue.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| <br />
==== Biocircuits ====<br />
* 27 Apr, 1p-3p<br />
* 4 May, 1p-3p<br />
* 17 May, 3p-5p<br />
* 31 May, 10a-12p<br />
|<br />
==== Robotics ====<br />
* 2 May, 10a-12p<br />
* 11 May, 10a-12p<br />
* 26 May, 10a-12p<br />
* 6 Jun, 1p-3p<br />
|<br />
==== NCS ====<br />
* 28 Apr, 3p-5p<br />
* 10 May, 2p-4p<br />
* 23 May, 10a-12p<br />
* 7 Jun, 10a-12p<br />
|}<br />
<br />
== Events and talks ==<br />
* 7 Apr - [[Cedric Langbort, April 2011|Cendric Langbort]]</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2011&diff=12383ME/CS 132b, Spring 20112011-04-15T06:08:25Z<p>Andrea: </p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Tue, 4-5 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 14 Apr 2011: HW #3 has been posted. It is due 2:30pm, 21 Apr.<br />
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.<br />
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.<br />
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.<br />
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf). <br />
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.<br />
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Detail of this will be announced later in the course.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. 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.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|29 Mar (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]<br />
|Tom Howard<br />
|-<br />
|31 Mar (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|5 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|7 Apr (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|12 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec05.pdf Search Algorithms] <br />
|Yoshi Kuwata<br />
|-<br />
|14 Apr (Th)<br />
|Search Algorithms (cont'd)<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|19 Apr (Tu)<br />
|Navigtion and Control<br />
|Yoshi Kuwata<br />
|-<br />
|21 Apr (Th)<br />
|Motion Planning and Navigation Case Studies<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|26 Apr (Tu)<br />
|Week-long lab<br />
|<br />
|-<br />
|28 Apr (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|3 May (Tu)<br />
|System Case Studies<br />
|TBA<br />
|-<br />
|5 May (Th)<br />
|System Case Studies (cont'd)<br />
|TBA<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|10 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|12 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|17 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|19 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|24 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|26 May (Th)<br />
|Project Presentation<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.<br />
<br />
== Older Announcements ==<br />
There are no older announcements.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2011&diff=12382ME/CS 132b, Spring 20112011-04-15T06:05:17Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Tue, 4-5 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.<br />
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.<br />
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.<br />
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf). <br />
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.<br />
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Detail of this will be announced later in the course.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. 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.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|29 Mar (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]<br />
|Tom Howard<br />
|-<br />
|31 Mar (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|5 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|7 Apr (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|12 Apr (Tu)<br />
|Search Algorithms<br />
|Yoshi Kuwata<br />
|-<br />
|14 Apr (Th)<br />
|Search Algorithms (cont'd)<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|19 Apr (Tu)<br />
|Navigtion and Control<br />
|Yoshi Kuwata<br />
|-<br />
|21 Apr (Th)<br />
|Motion Planning and Navigation Case Studies<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|26 Apr (Tu)<br />
|Week-long lab<br />
|<br />
|-<br />
|28 Apr (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|3 May (Tu)<br />
|System Case Studies<br />
|TBA<br />
|-<br />
|5 May (Th)<br />
|System Case Studies (cont'd)<br />
|TBA<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|10 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|12 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|17 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|19 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|24 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|26 May (Th)<br />
|Project Presentation<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 3] (Due: 2:30pm, 21 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.<br />
<br />
== Older Announcements ==<br />
There are no older announcements.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2011&diff=12381ME/CS 132b, Spring 20112011-04-15T06:04:59Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Tue, 4-5 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 7 Apr 2011: HW #2 has been posted. It is due 2:30pm, 14 Apr.<br />
* 6 Apr 2011: The location of office hours has been changed to 114 Steele.<br />
* 5 Apr 2011: The due date of HW #1 has been postponed to 14 Apr.<br />
* 1 Apr 2011: A revised version of HW #1 has been posted (hw01_v2.pdf). <br />
* 31 Mar 2011: HW #1 has been posted. It is due 2:30pm, 7 Apr.<br />
* 29 Mar 2011: The course page has been set up. The page for ME/CS 132a (Winter 2011) can be found [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011 here].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (30%), (2) a week-long lab (20%), and (3) a course project (50%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to<br />
** turn in a hard copy in class,<br />
** or, upload an electronic copy to the course server and send the TAs a note. <br />
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Course Project''': Detail of this will be announced later in the course.<br />
<br />
=== Homework Guidelines ===<br />
* On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.<br />
* Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.<br />
* You are encouraged to use professional libraries (such as OpenCV) for reading/writing ﬁles and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.<br />
* You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable. <br />
* You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values. <br />
<br />
'''For electronic submissions (including your code)''':<br />
* Package code, data, and answers in a single .zip or .tgz ﬁle. <br />
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability. <br />
* Separate code & commentary: do not write your discussion/derivation in the source ﬁles, but in a separate report ﬁle, clearly labeled as such. <br />
* Include instructions/scripts that allow reproducing your experiments with relatively little eﬀort. For example, include a script “main.m” that calls the other ﬁles.<br />
<br />
=== Collaboration Policy ===<br />
Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. 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.<br />
<br />
=== Course Texts ===<br />
The required textbook is (also freely available online):<br />
<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|29 Mar (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec00.pdf Overview], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec01.pdf Kinematic and Dynamic Models]<br />
|Tom Howard<br />
|-<br />
|31 Mar (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec02.pdf Motion Simulation]<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|5 Apr (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec03.pdf Search Spaces I]<br />
|Tom Howard<br />
|-<br />
|7 Apr (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04a.pdf Search Spaces II], [http://www.cds.caltech.edu/~murray/courses/me132-sp11/me132b_lec04b.pdf Obstacles and Cost]<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|12 Apr (Tu)<br />
|Search Algorithms<br />
|Yoshi Kuwata<br />
|-<br />
|14 Apr (Th)<br />
|Search Algorithms (cont'd)<br />
|Tom Howard<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|19 Apr (Tu)<br />
|Navigtion and Control<br />
|Yoshi Kuwata<br />
|-<br />
|21 Apr (Th)<br />
|Motion Planning and Navigation Case Studies<br />
|Yoshi Kuwata<br />
|-<br />
|rowspan=2 align="center"| 5<br />
|26 Apr (Tu)<br />
|Week-long lab<br />
|<br />
|-<br />
|28 Apr (Th)<br />
|Week-long lab<br />
|<br />
|-<br />
|rowspan=2 align="center"| 6<br />
|3 May (Tu)<br />
|System Case Studies<br />
|TBA<br />
|-<br />
|5 May (Th)<br />
|System Case Studies (cont'd)<br />
|TBA<br />
|-<br />
|rowspan=2 align="center"| 7<br />
|10 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|12 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 8<br />
|17 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|19 May (Th)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|rowspan=2 align="center"| 9<br />
|24 May (Tu)<br />
|Course Project (no class)<br />
|<br />
|-<br />
|26 May (Th)<br />
|Project Presentation<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw01_v2.pdf Homework 1] (Due: 2:30pm, 14 Apr) -- total points will be multiplied by 1.6<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_1_FAQ FAQ], Solution<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02.pdf Homework 2] (Due: 2:30pm, 14 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_2_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw02_material.zip this zip file].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03.pdf Homework 2] (Due: 2:30pm, 14 Apr)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011,_Homework_3_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-sp11/hw03_material.zip this zip file], containing the cost map to be used in Matlab and Python format.<br />
<br />
== Older Announcements ==<br />
There are no older announcements.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Pedro_Santana,_March_2011&diff=12232Pedro Santana, March 20112011-03-09T03:57:56Z<p>Andrea: /* 9 Mar (Wed) */</p>
<hr />
<div>Pedro Santana is prospective CDS student who will be visiting on 8-9 March 2011.<br />
* [http://www.lara.unb.br/~phsantana/ Pedro's homepage]<br />
<br />
==== 8 Mar (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|11:15|Richard (109 Steele)}}<br />
{{agenda item|12:00|Lunch with grad students (Ath): Ashley, Matanya}}<br />
{{agenda item|1:30|Houman Owhadi}}<br />
{{agenda item|2:15|Steven Low}}<br />
{{agenda item|2:45|CDS 212 (314 ANB?)}}<br />
{{agenda item|3:45|Larry Matthies}}<br />
{{agenda item|4:30|Alberto Elfes}}<br />
{{agenda end}}<br />
<br />
==== 9 Mar (Wed) ====<br />
<br />
{{agenda begin}}<br />
{{agenda item|9:45|Open}}<br />
{{agenda item|10:30|Babak Hassibi}}<br />
{{agenda item|11:15|Open}}<br />
{{agenda item|12:00|Lunch with RMM students (Chandler or In-n-out): Andrea, Annie, Shuo}}<br />
{{agenda item|1:30|John Doyle}}<br />
{{agenda item|2:15|Open}}<br />
{{agenda item|3:00|CDS tea (Annenberg Lounge)}}<br />
{{agenda item|3:45| Jaime Izuka (meet at CDS tea)}}<br />
{{agenda item|4:30|Thomas Werne}}<br />
{{agenda end}}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Pedro_Santana,_March_2011&diff=12226Pedro Santana, March 20112011-03-07T23:06:08Z<p>Andrea: /* 9 Mar (Wed) */</p>
<hr />
<div>Pedro Santana is prospective CDS student who will be visiting on 8-9 March 2011.<br />
* [http://www.lara.unb.br/~phsantana/ Pedro's homepage]<br />
<br />
==== 8 Mar (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|9:45|Open}}<br />
{{agenda item|10:30|Open}}<br />
{{agenda item|11:15|Richard (109 Steele)}}<br />
{{agenda item|12:00|Lunch with grad students (Ath): Ashley, Matanya}}<br />
{{agenda item|1:30|Houman Owhadi}}<br />
{{agenda item|2:15|Steven Low}}<br />
{{agenda item|2:45|CDS 212 (314 ANB?)}}<br />
{{agenda item|3:45|Larry Matthies}}<br />
{{agenda item|4:30|Alberto Elfes}}<br />
{{agenda end}}<br />
<br />
==== 9 Mar (Wed) ====<br />
<br />
{{agenda begin}}<br />
{{agenda item|9:45|Open}}<br />
{{agenda item|10:30|Babak Hassibi}}<br />
{{agenda item|11:15|Open}}<br />
{{agenda item|12:00|Lunch with RMM students (Chandler or In-n-out): Andrea, open, open}}<br />
{{agenda item|1:30|John Doyle}}<br />
{{agenda item|2:15|Open}}<br />
{{agenda item|3:00|CDS tea (Annenberg Lounge)}}<br />
{{agenda item|3:45|Open}}<br />
{{agenda item|4:30|Thomas Werne}}<br />
{{agenda end}}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Pedro_Santana,_March_2011&diff=12223Pedro Santana, March 20112011-03-07T21:29:42Z<p>Andrea: /* 9 Mar (Wed) */</p>
<hr />
<div>Pedro Santana is prospective CDS student who will be visiting on 8-9 March 2011.<br />
* [http://www.lara.unb.br/~phsantana/ Pedro's homepage]<br />
<br />
==== 8 Mar (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|9:45|Open}}<br />
{{agenda item|10:30|Open}}<br />
{{agenda item|11:15|Richard (109 Steele)}}<br />
{{agenda item|12:00|Lunch with grad students (Ath): Ashley, Matanya}}<br />
{{agenda item|1:30|Houman Owhadi}}<br />
{{agenda item|2:15|Steven Low}}<br />
{{agenda item|2:45|CDS 212 (314 ANB?)}}<br />
{{agenda item|3:45|Larry Matthies}}<br />
{{agenda item|4:30|Alberto Elfes}}<br />
{{agenda end}}<br />
<br />
==== 9 Mar (Wed) ====<br />
<br />
{{agenda begin}}<br />
{{agenda item|9:45|Open}}<br />
{{agenda item|10:30|Babak Hassibi}}<br />
{{agenda item|11:15|Open}}<br />
{{agenda item|12:00|Lunch with RMM students (Chandler): Andrea, open, open}}<br />
{{agenda item|1:30|John Doyle}}<br />
{{agenda item|2:15|Open}}<br />
{{agenda item|3:00|CDS tea (Annenberg Lounge)}}<br />
{{agenda item|3:45|Open}}<br />
{{agenda item|4:30|Thomas Werne}}<br />
{{agenda end}}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=12122ME/CS 132a, Winter 20112011-02-22T08:27:45Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Mon, 5-6:30 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 15 Feb 2011: HW #3 has been posted. It is due 2:30pm, 22 Feb. <br />
* 09 Feb 2011: The location of the lab sessions for this week is 12 Steele (basement).<br />
* 06 Feb 2011: Office hour for the upcoming week will be held on 8 Feb (Tue), 2:30-4pm at 306 Thomas.<br />
* 05 Feb 2011: Lab Assignment #1 has been posted. The report is due 2:30pm, 15 Feb. No grace period is allowed for this report. <br />
* 04 Feb 2011: The accounts on the course server have been set up. Please follow the instructions on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 this page] to log into the server.<br />
* 03 Feb 2011: Once you form a group, sign up for a time slot for the lab session on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up the same page].<br />
* 03 Feb 2011: '''Before midnight tonight''', sign up for an ME/CS 132a user account via [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up this page]. You will receive a note once the account has been set up.<br />
* The solution to HW #1 has been posted (Caltech/JPL access only).<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''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 Andrea Censi (andrea at cds.caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
Other optional reference materials (books are on reserve at SFL):<br />
<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'', Prentice Hall, 2003.<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|4 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
|Larry Matthies<br />
|-<br />
|6 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec02_v2.pdf Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|11 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec03.pdf Cameras]<br />
|Larry Matthies<br />
|-<br />
|13 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec04.pdf Camera Calibration]<br />
|Adnan Ansar<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|18 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec05.pdf Feature Detection and Matching]<br />
|Roland Brockers<br />
|-<br />
|20 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec06.pdf Feature Quality Assessment]<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|25 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec07.pdf Egomotion Estimation]<br />
|Adnan Ansar<br />
|-<br />
|27 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec08.pdf Low-level Image Processing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|1 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec09.pdf Stereo Vision]<br />
|Roland Brockers<br />
|-<br />
|3 Feb (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec10.pdf Overview of Range Sensors]<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|8 Feb (Tu)<br />
|No class ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 week-long lab 1])<br />
|<br />
|-<br />
|10 Feb (Th)<br />
|No class ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 week-long lab 1])<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|15 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec11.pdf Introduction to Estimation, Batch Filtering]<br />
|Nick Hudson<br />
|-<br />
|17 Feb (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec12.pdf Linear Kalman filter]<br> Additional: [http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec12-notes.pdf KF proof], [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/gaussian.pdf Gaussian distribution], [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/choset_chap8.pdf KF from Choset (Ch 8)]<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|22 Feb (Tu)<br />
|Extended Kalman filter<br />
|Nick Hudson<br />
|-<br />
|24 Feb (Th)<br />
|Particle filters and the UKF<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|1 Mar (Tu)<br />
|Simultaneous localization and mapping (SLAM)<br />
|Brian Williams<br />
|-<br />
|3 Mar (Th)<br />
|Issues in SLAM<br />
|Brian Williams<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|8 Mar (Tu)<br />
|No class (week-long lab 2)<br />
|<br />
|-<br />
|10 Mar (Th)<br />
|No class (week-long lab 2/study period)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw01.pdf Homework 1] (Due: 2:30pm, 18 Jan)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/soln01.pdf Solution]<br />
* You will need Chapter 1 from Forsyth's book, which is available [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/forsyth_chap01.pdf here] (Caltech/JPL access only).<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02.pdf Homework 2] (Due: 2:30pm, 3 Feb)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_2_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/soln02.zip Solution]<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02_material.zip this zip file].<br />
* ...and the data in the documentation for [http://www.vision.caltech.edu/bouguetj/calib_doc/ the Matlab Calibration Toolbox].<br />
* For a very brief walk-through of SVD and its application in least-squares solution of linear systems, see [http://www.cds.caltech.edu/~murray/courses/me132-wi11/svd.pdf here].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab01.pdf Lab Assignment 1] (Due: 2:30pm, 15 Feb. '''No grace period is allowed'''). <br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab01_material.zip this file]. The lab assignment is divided into two components:<br />
** C/C++ component (<TT>lab01_material/part1/</TT>) <br />
*** The folder contains the tutorial client code, reference/test images, and Player/Stage config files.<br />
*** Be sure to sign up for a course server account if you haven't.<br />
*** Refer to the exercises on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 this page] to learn how to use Player/Stage. <br />
** MATLAB component (<TT>lab01_material/part2/</TT>) <br />
*** The folder contains the feature datasets for RANSAC/homography, the Matlab SIFT feature extraction code, the object images, and the test sensor data.<br />
<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw03.pdf Homework 3] (Due: 2:30pm, 22 Feb)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_3_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw03_material.zip this zip file].<br />
<br />
== Older Announcements ==<br />
* The due date of HW #2 has been extended. It is now due 2:30pm, 3 Feb.<br />
* HW #1 has been graded. It is in Box H next to the mail slots in Steele.<br />
* HW #2 has been posted. It is due 2:30pm, 1 Feb.<br />
* The location of TA office hours has been changed to 114 Steele.<br />
* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.<br />
* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.<br />
* The instructors' office hours have been changed to "by appointment only". You can send the instructor email before class, or directly come to the instructor before/after class to schedule an office hour.<br />
* HW #1 has been posted. It is due 2:30pm, 18 Jan.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=12094ME/CS 132a, Winter 20112011-02-16T02:07:09Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Mon, 5-6:30 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* 09 Feb 2011: The location of the lab sessions for this week is 12 Steele (basement).<br />
* 06 Feb 2011: Office hour for the upcoming week will be held on 8 Feb (Tue), 2:30-4pm at 306 Thomas.<br />
* 05 Feb 2011: Lab Assignment #1 has been posted. The report is due 2:30pm, 15 Feb. No grace period is allowed for this report. <br />
* 04 Feb 2011: The accounts on the course server have been set up. Please follow the instructions on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 this page] to log into the server.<br />
* 03 Feb 2011: Once you form a group, sign up for a time slot for the lab session on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up the same page].<br />
* 03 Feb 2011: '''Before midnight tonight''', sign up for an ME/CS 132a user account via [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up this page]. You will receive a note once the account has been set up.<br />
* The solution to HW #1 has been posted (Caltech/JPL access only).<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''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 Andrea Censi (andrea at cds.caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
Other optional reference materials (books are on reserve at SFL):<br />
<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'', Prentice Hall, 2003.<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|4 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
|Larry Matthies<br />
|-<br />
|6 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec02_v2.pdf Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|11 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec03.pdf Cameras]<br />
|Larry Matthies<br />
|-<br />
|13 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec04.pdf Camera Calibration]<br />
|Adnan Ansar<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|18 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec05.pdf Feature Detection and Matching]<br />
|Roland Brockers<br />
|-<br />
|20 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec06.pdf Feature Quality Assessment]<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|25 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec07.pdf Egomotion Estimation]<br />
|Adnan Ansar<br />
|-<br />
|27 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec08.pdf Low-level Image Processing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|1 Feb (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec09.pdf Stereo Vision]<br />
|Roland Brockers<br />
|-<br />
|3 Feb (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec10.pdf Overview of Range Sensors]<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|8 Feb (Tu)<br />
|No class ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 week-long lab 1])<br />
|<br />
|-<br />
|10 Feb (Th)<br />
|No class ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 week-long lab 1])<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|15 Feb (Tu)<br />
|Introduction to estimation<br />
|Nick Hudson<br />
|-<br />
|17 Feb (Th)<br />
|Linear Kalman filter <br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|22 Feb (Tu)<br />
|Extended Kalman filter<br />
|Nick Hudson<br />
|-<br />
|24 Feb (Th)<br />
|Particle filters and the UKF<br />
|Nick Hudson<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|1 Mar (Tu)<br />
|Simultaneous localization and mapping (SLAM)<br />
|Brian Williams<br />
|-<br />
|3 Mar (Th)<br />
|Issues in SLAM<br />
|Brian Williams<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|8 Mar (Tu)<br />
|No class (week-long lab 2)<br />
|<br />
|-<br />
|10 Mar (Th)<br />
|No class (week-long lab 2/study period)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw01.pdf Homework 1] (Due: 2:30pm, 18 Jan)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ], [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/soln01.pdf Solution]<br />
* You will need Chapter 1 from Forsyth's book, which is available [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/forsyth_chap01.pdf here] (Caltech/JPL access only).<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02.pdf Homework 2] (Due: 2:30pm, 3 Feb)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_2_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02_material.zip this zip file].<br />
* ...and the data in the documentation for [http://www.vision.caltech.edu/bouguetj/calib_doc/ the Matlab Calibration Toolbox].<br />
* For a very brief walk-through of SVD and its application in least-squares solution of linear systems, see [http://www.cds.caltech.edu/~murray/courses/me132-wi11/svd.pdf here].<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab01.pdf Lab Assignment 1] (Due: 2:30pm, 15 Feb. '''No grace period is allowed'''). <br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab01_material.zip this file]. The lab assignment is divided into two components:<br />
** C/C++ component (<TT>lab01_material/part1/</TT>) <br />
*** The folder contains the tutorial client code, reference/test images, and Player/Stage config files.<br />
*** Be sure to sign up for a course server account if you haven't.<br />
*** Refer to the exercises on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1 this page] to learn how to use Player/Stage. <br />
** MATLAB component (<TT>lab01_material/part2/</TT>) <br />
*** The folder contains the feature datasets for RANSAC/homography, the Matlab SIFT feature extraction code, the object images, and the test sensor data.<br />
<br />
[http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw03.pdf Homework 3] (Due: 2:30pm, 22 Feb)<br />
* [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_3_FAQ FAQ], Solution<br />
* You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw03_material.zip this zip file].<br />
<br />
== Older Announcements ==<br />
* The due date of HW #2 has been extended. It is now due 2:30pm, 3 Feb.<br />
* HW #1 has been graded. It is in Box H next to the mail slots in Steele.<br />
* HW #2 has been posted. It is due 2:30pm, 1 Feb.<br />
* The location of TA office hours has been changed to 114 Steele.<br />
* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.<br />
* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.<br />
* The instructors' office hours have been changed to "by appointment only". You can send the instructor email before class, or directly come to the instructor before/after class to schedule an office hour.<br />
* HW #1 has been posted. It is due 2:30pm, 18 Jan.<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=11880ME/CS 132a, Winter 20112011-01-19T09:28:02Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Mon, 5-6:30 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The location of TA office hours has been changed to 114 Steele.<br />
* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.<br />
* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.<br />
* The instructors' office hours have been changed to "by appointment only". You can send the instructor email before class, or directly come to the instructor before/after class to schedule an office hour.<br />
* HW #1 has been posted. It is due 2:30pm, 18 Jan.<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''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 Andrea Censi (andrea at cds.caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
Other optional reference materials (books are on reserve at SFL):<br />
<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'', Prentice Hall, 2003.<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|4 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
|Larry Matthies<br />
|-<br />
|6 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec02_v2.pdf Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|11 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec03.pdf Cameras]<br />
|Larry Matthies<br />
|-<br />
|13 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec04.pdf Camera Calibration]<br />
|Adnan Ansar<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|18 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec05.pdf Feature Detection and Matching]<br />
|Roland Brockers<br />
|-<br />
|20 Jan (Th)<br />
|Feature quality assessment<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|25 Jan (Tu)<br />
|Ego motion estimation and outlier detection<br />
|Adnan Ansar<br />
|-<br />
|27 Jan (Th)<br />
|Image processing<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|1 Feb (Tu)<br />
|Stereo vision<br />
|Roland Brockers<br />
|-<br />
|3 Feb (Th)<br />
|Overview of range sensors<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|8 Feb (Tu)<br />
|No class (week-long lab 1)<br />
|<br />
|-<br />
|10 Feb (Th)<br />
|No class (week-long lab 1)<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|15 Feb (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|17 Feb (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|22 Feb (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|24 Feb (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|1 Mar (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|3 Mar (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|8 Mar (Tu)<br />
|No class (week-long lab 2)<br />
|<br />
|-<br />
|10 Mar (Th)<br />
|No class (study period)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw01.pdf Homework 1] (Due: 2:30pm, 18 Jan), ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ], Solution)<br />
** You will need Chapter 1 from Forsyth's book, which is available [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/forsyth_chap01.pdf here] (Caltech/JPL access only).<br />
* [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02.pdf Homework 2] (Due: 2:30pm, 25 Jan), ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_2_FAQ FAQ], Solution)<br />
** You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02_material.zip this zip file].<br />
** ...and the data in the documentation for [http://www.vision.caltech.edu/bouguetj/calib_doc/ the Matlab Calibration Toolbox].<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=11879ME/CS 132a, Winter 20112011-01-19T09:24:50Z<p>Andrea: /* Homework */</p>
<hr />
<div>{| width=100%<br />
|-<br />
| colspan=2 align=center |<br />
<font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font><br />
|- valign=top<br />
|}<br />
<table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM (by appointment only)<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: Mon, 5-6:30 pm, 114 STL<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The location of TA office hours has been changed to 114 Steele.<br />
* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.<br />
* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.<br />
* The instructors' office hours have been changed to "by appointment only". You can send the instructor email before class, or directly come to the instructor before/after class to schedule an office hour.<br />
* HW #1 has been posted. It is due 2:30pm, 18 Jan.<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''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 Andrea Censi (andrea at cds.caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
Other optional reference materials (books are on reserve at SFL):<br />
<br />
* David A. Forsyth and Jean Ponce, ''Computer Vision: A Modern Approach'', Prentice Hall, 2003.<br />
* Sebastian Thrun, Wolfram Burgard, and Dieter Fox, ''Probabilistic robotics'', MIT Press, 2005.<br />
<br />
== Lecture Notes ==<br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Instructor<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|4 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
|Larry Matthies<br />
|-<br />
|6 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec02_v2.pdf Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 2<br />
|11 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec03.pdf Cameras]<br />
|Larry Matthies<br />
|-<br />
|13 Jan (Th)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec04.pdf Camera Calibration]<br />
|Adnan Ansar<br />
|-<br />
|rowspan=2 align="center" | 3<br />
|18 Jan (Tu)<br />
|[http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec05.pdf Feature Detection and Matching]<br />
|Roland Brockers<br />
|-<br />
|20 Jan (Th)<br />
|Feature quality assessment<br />
|Yang Cheng<br />
|-<br />
|rowspan=2 align="center" | 4<br />
|25 Jan (Tu)<br />
|Ego motion estimation and outlier detection<br />
|Adnan Ansar<br />
|-<br />
|27 Jan (Th)<br />
|Image processing<br />
|Larry Matthies<br />
|-<br />
|rowspan=2 align="center" | 5<br />
|1 Feb (Tu)<br />
|Stereo vision<br />
|Roland Brockers<br />
|-<br />
|3 Feb (Th)<br />
|Overview of range sensors<br />
|Jeremy Ma<br />
|-<br />
|rowspan=2 align="center" | 6<br />
|8 Feb (Tu)<br />
|No class (week-long lab 1)<br />
|<br />
|-<br />
|10 Feb (Th)<br />
|No class (week-long lab 1)<br />
|<br />
|-<br />
|rowspan=2 align="center" | 7<br />
|15 Feb (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|17 Feb (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|22 Feb (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|24 Feb (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|1 Mar (Tu)<br />
|TBA<br />
|TBD<br />
|-<br />
|3 Mar (Th)<br />
|TBA<br />
|TBD<br />
|-<br />
|rowspan=2 align="center" | 10<br />
|8 Mar (Tu)<br />
|No class (week-long lab 2)<br />
|<br />
|-<br />
|10 Mar (Th)<br />
|No class (study period)<br />
|<br />
|}<br />
<br />
== Homework ==<br />
* [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw01.pdf Homework 1] (Due: 2:30pm, 18 Jan), ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ], Solution)<br />
** You will need Chapter 1 from Forsyth's book, which is available [http://www.cds.caltech.edu/~murray/courses/me132-wi11/caltech/forsyth_chap01.pdf here] (Caltech/JPL access only).<br />
<br />
<br />
* [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02.pdf Homework 2] (Due: 2:30pm, 25 Jan), ([http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_2_FAQ FAQ], Solution)<br />
** You will need the data in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/hw02_material.zip this zip file].<br />
<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=11776ME/CS 132a, Winter 20112011-01-09T05:23:36Z<p>Andrea: /* Lecture Notes */</p>
<hr />
<div><table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
There are currently no announcements.<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn it in by putting a hard copy at Shuo Han's mailbox at Steele or sending an electronic copy to Andrea Censi (andrea at cds.caltech.edu).<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
* Lecture 1 (4 Jan): [http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
* Lecture 2 (6 Jan): [http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec02.pdf Illumination, Radiometry, and a (Very Brief) Introduction to the Physics of Remote Sensing]<br />
<br />
== Homework ==<br />
TBA<br />
<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=ME/CS_132a,_Winter_2011&diff=11773ME/CS 132a, Winter 20112011-01-08T05:46:33Z<p>Andrea: </p>
<hr />
<div><table width=100%><br />
<tr valign=top><br />
<td width=45%><br />
'''Instructors'''<br />
* Larry Matthies (coordinator), lhm@jpl.nasa.gov<br />
* Roland Brockers, Brian Williams, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma<br />
* Lectures: Tue/Thu, 2:30-4 pm, 306 TOM <br />
* Office hours: Tue/Thu, 4-5 pm, 303 TOM<br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' (me132-tas@caltech.edu)<br />
* [http://www.cds.caltech.edu/~andrea/ Andrea Censi], Shuo Han<br />
* Office hours: TBD<br />
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
There are currently no announcements.<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.<br />
<br />
=== Grading ===<br />
There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of '''five''' late days throughout the entire term for weekly homework. Please indicate the number of late days you have used on the homework. '''No grace period is allowed for week-long labs'''. <br />
<br />
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to turn it in by putting a hard copy at Shuo Han's mailbox at Steele or sending an electronic copy to Andrea Censi (andrea at cds.caltech.edu).<br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.<br />
<br />
=== Collaboration Policy ===<br />
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.<br />
<br />
=== Course Texts ===<br />
There are two required textbooks, both of which are freely available online:<br />
<br />
* Richard Szeliski, [http://szeliski.org/Book/ ''Computer Vision: Algorithms and Applications''], Springer, 2010.<br />
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.<br />
<br />
== Lecture Notes ==<br />
* Lecture 1 (4 Jan): [http://www.cds.caltech.edu/~murray/courses/me132-wi11/me132a_lec01.pdf Overview]<br />
<br />
== Homework ==<br />
TBA<br />
<br />
__NOTOC__</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Fall_2010&diff=11074Group Schedule, Fall 20102010-09-13T16:10:33Z<p>Andrea: </p>
<hr />
<div>{{righttoc}} <br />
This page contains information about various upcoming events that are of interest to the group.<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]<br />
| width=50% |<br />
* [[Group Schedule, Summer 2010]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are at noon in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).<br />
{| width=100% border=1<br />
|- valign=top<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|1 Oct (Fri)|Open}}<br />
{{agenda item|8 Oct (Fri)|SoCal NLC*: Necmiye, Open}}<br />
{{agenda item|11-15 Oct|No meeting}}<br />
{{agenda item|19 Oct (Tue)|Andrea}}<br />
{{agenda end}}<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|29 Oct (Fri)|Open}}<br />
{{agenda item|3 Nov (Wed)|Jongmin}}<br />
{{agenda item|12 Nov (Fri)|Dom}}<br />
{{agenda item|19 Nov (Fri)|Open}}<br />
{{agenda end}}<br />
| <br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|24 Nov (Wed)|Shuo}}<br />
{{agenda item|1 Dec (Wed)|cisco}}<br />
{{agenda item|7 Dec (Tue)|Dionysios}}<br />
{{agenda end}}<br />
|}<br />
<br />
<nowiki>* The Southern California Controls Workshop (SoCal NLC) will take place on 8 Oct (Fri) in Santa Barbara. Caltech has two slots for speakers. This workshop is attended by PhD students and faculty from UC San Diego, UCLA, USC, UC Riverside, UC Irvine, Caltech and UC Santa Barbara.</nowiki><br />
<br />
== Mini-group meetings ==<br />
<br />
Below are the ''tentative'' times for mini-group meetings. Updates to times are likely to accommodate scheduling conflicts. Changes from the original schedule are highlighted in blue.<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| <br />
==== Biocircuits ====<br />
* 13-17 Sep: BE bootcamp<br />
* 21 Sep (Tue) @ 3 pm: DNA 2.0<br />
* 5 Oct (Tue) @ 4 pm<br />
* 18 Oct (Mon) @ 4 pm<br />
* 2 Nov (Tue) @ 4 pm<br />
* 9 Nov (Tue) @ 4 pm<br />
* 23 Nov (Tue) @ 4 pm<br />
* 30 Nov (Tue) @ 4 pm<br />
|<br />
<br />
==== Robotics ====<br />
* 15 Sep (Wed) @ 4:30 pm<br />
* 22 Sep (Wed) @ 5:00 pm<br />
* 6 Oct (Wed) @ 4 pm<br />
* 18 Oct (Tue) @ 4 pm<br />
* 3 Nov (Wed) @ 4 pm<br />
* 10 Nov (Wed) @ 4 pm<br />
* 24 Nov (Wed) @ 1:30 pm<br />
* 1 Dec (Wed) @ 4 pm<br />
| <br />
==== NCS ====<br />
* 16 Sep (Thu) @ 5:00 pm<br />
* 23 Sep (Thu) @ 4:00 pm<br />
* 7 Oct (Thu) @ 4 pm<br />
* 27 Oct (Thu) @ 4 pm<br />
* 4 Nov (Thu) @ 4 pm<br />
* 11 Nov (Thu) @ 4 pm<br />
* 18 Nov (Thu) @ 4 pm<br />
* 2 Dec (Thu) @ 4 pm<br />
|}<br />
<br />
== Events and talks ==<br />
* 22 Sep - 26 Nov: Keith Glover will be visiting Caltech<br />
* 6 Oct (Wed): Mung Chiang (Princeton) will visit and give an IST lunch bunch talk (noon) and and EE/CS seminar (4 pm?)<br />
* 8 Oct (Fri): Southern California Control Workshop (SoCal NLC) in Santa Barbara<br />
* 11 Oct (Mon): Jerry Loeb (USC) will give a talk titled "What Does the Brain Control?" and be around for discussions in the afternoon<br />
* 12 Oct (Tue): [[Raff D'Andrea, 12 October 2010|Raff D'Andrea]] will visit and give an IST lunch bunch talk (noon)</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Nils_Napp,_August_2010&diff=10943Nils Napp, August 20102010-08-25T03:02:39Z<p>Andrea: </p>
<hr />
<div>[http://soslab.ee.washington.edu/mw/index.php/User:Napp Nils Napp] will be visiting from U. Washington on 26-27 Aug. <br />
<br />
=== Schedule ===<br />
<br />
Thursday:<br />
* 2-3 pm: Richard, 109 Steele<br />
<br />
Friday:<br />
* 12-1: group meeting presentation<br />
* 1-2: Richard, 109 Steele<br />
* 2-3: [http://www.cds.caltech.edu/~andrea/ Andrea], 110 Steele?</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Apr_2010_meetings&diff=10633Apr 2010 meetings2010-04-26T17:12:09Z<p>Andrea: /* 30 Apr (Fri) */</p>
<hr />
<div>The list below has times that I am available to meet on 28-30 Apr.<br />
* One-on-one meetings: Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). <br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== 28 Apr (Wed) ====<br />
{{agenda begin}}<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open - 45m}}<br />
{{agenda item|10:15a|Vanessa - 45m}}<br />
{{agenda item|11:00a|Pete - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Dionysios - 60m}}<br />
{{agenda item|2:30p|Hold - 30m}}<br />
{{agenda item|3:00p|CDS tea}}<br />
{{agenda item|3:30p|Open - 60m}}<br />
{{agenda item|4:30p|Open - 60m}}<br />
{{agenda item|5:30p|Open - 60m}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== 29 Apr (Thu) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Busy - 45m}}<br />
{{agenda item|10:15a|Open - 45m}}<br />
{{agenda item|11:00a|Javad & Somayeh - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Busy - 90m}}<br />
{{agenda item|3:00p|Open - 30m}}<br />
{{agenda item|3:30p|Open - 30m}}<br />
{{agenda item|4:00p|Open - 60m}}<br />
{{agenda item|5:00p|iGEM - 60m}}<br />
{{agenda item|6:00p|Open - 60m}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== 30 Apr (Fri) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open - 45m}}<br />
{{agenda item|10:15a|Open - 45m}}<br />
{{agenda item|11:00a|Open - 30m}}<br />
{{agenda item|11:30a|Exam - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Open - 60m}}<br />
{{agenda item|2:30p|Elisa - 60m}}<br />
{{agenda item|3:30p|Andrea - 60m}}<br />
{{agenda item|4:30p|cisco - 60m}}<br />
{{agenda item|5:30p|Open - 60m}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Mar_2010_meetings&diff=10429Mar 2010 meetings2010-03-29T20:05:08Z<p>Andrea: /* 1 Apr (Thu) */</p>
<hr />
<div>The list below has times that I am available to meet on 31 Mar - 2 Apr.<br />
* One-on-one meetings: Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). <br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== 31 Mar (Wed) ====<br />
{{agenda begin}}<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Ophelia - 45m}}<br />
{{agenda item|10:15a| Dionysios - 45m}}<br />
{{agenda item|11:00a| Open - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p| Open - 60m}}<br />
{{agenda item|2:30p|Busy - 60m}}<br />
{{agenda item|3:30p|Open - 60m}}<br />
{{agenda item|4:30p|Open - 60m}}<br />
{{agenda item|5:30p|Elisa - 60m}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== 1 Apr (Thu) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Sawyer - 45m}}<br />
{{agenda item|10:15a| Vanessa - 45m}}<br />
{{agenda item|11:00a| Javad & Somayeh - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p| Open - 60m}}<br />
{{agenda item|2:30p|Andrea - 60m}}<br />
{{agenda item|3:30p|Open - 60m}}<br />
{{agenda item|4:30p|Open - 60m}}<br />
{{agenda item|5:30p|Nok}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== 2 Apr (Fri) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open - 45m}}<br />
{{agenda item|10:15a| Open - 45m}}<br />
{{agenda item|11:00a| Open - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p| Open - 60m}}<br />
{{agenda item|2:30p|Open - 60m}}<br />
{{agenda item|3:30p|Emzo and Joe - 60m}}<br />
{{agenda item|4:30p|Open - 60m}}<br />
{{agenda item|5:30p|Open - 60m}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Feb_2010_schedule&diff=10309Feb 2010 schedule2010-02-18T23:24:21Z<p>Andrea: /* Session M1 */</p>
<hr />
<div>Sign up below for a time to talk at the Feb 2010 "conference". '''All talks are 20 minutes long''' (shorter is OK).<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== Session A1 ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:00a|Open}}<br />
{{agenda item|10:30a|Elisa}}<br />
{{agenda item|11:00a|Vanessa}}<br />
{{agenda item|11:30a|Javad & Somayeh}}<br />
{{agenda item|12:00p|Working lunch (RMM)}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== Session M1 ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|Open}}<br />
{{agenda item|1:30p|Pete}}<br />
{{agenda item|2:00p|Floris}}<br />
{{agenda item|2:30p|Shuo/Andrea}}<br />
{{agenda item|3:00p|Paloma/Andrea}}<br />
{{agenda item|3:30p|Afternoon break (on your own)}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== Session P1 ====<br />
{{agenda begin}}<br />
{{agenda item|4:30p|Dionysios}}<br />
{{agenda item|5:00p|Mumu}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda item|7:00p|End of conference}}<br />
{{agenda end}}<br />
<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Feb_2010_schedule&diff=10300Feb 2010 schedule2010-02-18T20:39:50Z<p>Andrea: </p>
<hr />
<div>Sign up below for a time to talk at the Feb 2010 "conference". '''All talks are 20 minutes long''' (shorter is OK).<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== Session A1 ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:00a|Open}}<br />
{{agenda item|10:30a|Open}}<br />
{{agenda item|11:00a|Vanessa}}<br />
{{agenda item|11:30a|Javad & Somayeh}}<br />
{{agenda item|12:00p|Lunch break}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== Session M1 ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|Paloma/Andrea}}<br />
{{agenda item|1:30p|Pete}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|2:30p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|3:30p|Afternoon break}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== Session P1 ====<br />
{{agenda begin}}<br />
{{agenda item|4:30p|Dionysios}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda item|7:00p|End of conference}}<br />
{{agenda end}}<br />
<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Feb_2010_schedule&diff=10296Feb 2010 schedule2010-02-18T20:36:02Z<p>Andrea: /* Session M1 */</p>
<hr />
<div>Sign up below for a time to talk at the Feb 2010 "conference". '''All talks are 20 minutes long''' (shorter is OK).<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== Session A1 ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:00a|Open}}<br />
{{agenda item|10:30a|Open}}<br />
{{agenda item|11:00a|Open}}<br />
{{agenda item|11:30a|Open}}<br />
{{agenda item|12:00p|Lunch break}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== Session M1 ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|Andrea/Paloma}}<br />
{{agenda item|1:30p|Pete}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|2:30p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|3:30p|Afternoon break}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== Session P1 ====<br />
{{agenda begin}}<br />
{{agenda item|4:30p|Dionysios}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda item|7:00p|End of conference}}<br />
{{agenda end}}<br />
<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Jan_2010_meetings&diff=10184Jan 2010 meetings2010-01-07T08:34:41Z<p>Andrea: /* 12 Jan (Tue) */</p>
<hr />
<div>The list below has times that I am available to meet on 12-14 Jan. <br />
* One-on-one meetings: Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). <br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== 12 Jan (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Open - 60m}}<br />
{{agenda item|5:00p|Dom - 30m}}<br />
{{agenda item|5:30p|Shuo - 60m}}<br />
{{agenda item|6:30p|Andrea - 60m}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== 13 Jan (Wed) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open - 45m}}<br />
{{agenda item|10:15a| Open - 45m}}<br />
{{agenda item|11:00a| Vanessa - 60m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Open - 30m}}<br />
{{agenda item|2:00p|Exam}}<br />
{{agenda item|3:30p|Open - 60m}}<br />
{{agenda item|4:30p|cisco - 60m}}<br />
{{agenda item|5:30p|Open - 60m}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== 14 Jan (Thu) ====<br />
{{agenda begin}}<br />
{{agenda item|9:00a|Exam}}<br />
{{agenda item|10:30a|Nok - 45m}}<br />
{{agenda item|11:15a|Javad & Somayeh - 45m}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Open - 30m}}<br />
{{agenda item|2:00p|Open - 60m}}<br />
{{agenda item|3:00p|Open - 60m}}<br />
{{agenda item|4:00p|Open - 30m}}<br />
{{agenda item|4:30p|Exam}}<br />
{{agenda item|6:30p|Open - 60m}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101762010 plans for visual stabilization/servoing2010-01-07T04:14:17Z<p>Andrea: </p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
* First of all: '''real experiments'''. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helicopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** (Shuo) It's possible to use the helicopter system with an onboard wireless camera. See: http://www.cs.cornell.edu/~asaxena/helicopter/autonomousindoorhelicopter_iros.pdf . This paper uses exactly the same helicopter that I used before. Another good thing is that I've had > 6 months of experience with this model.<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
** (Shuo) It's worthwhile to invest on a good camera at this point (also to save for future experiments). The Point Grey Ladybug seems a good choice: http://www.ptgrey.com/products/ladybug2/index.asp <br />
** Consider building a separate "calibration platform", such as a pan/tilt/roll unit to do the bootstrapping separatedly from<br />
the robotic platform.<br />
<br />
* '''Improve and refine the theory'''. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
** Work out differently the case of velocity control and force control.<br />
** Work out the case of camera not at the center of mass.\<br />
** In general, study the problem of bootstrapping on one platform and then change it. Are M, N simple linear combintations of the old ones? (e.g., rotation)<br />
** (Shuo) Try to get rid of some unrealistic assumptions: e.g., "a spherical fly"<br />
<br />
* '''Realistic implementation'''. <br />
** So far we worked with n pixels, with small n, and all the computations require n x n matrices.<br />
We should think of better computations (sparse matrices) for big n.<br />
<br />
* Do some '''small improvements''' that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some '''local nonlinearity''' as a first step, such as using contrast instead of luminance.<br />
** add back some '''non-bio-plausible elements''' and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* '''Study explicitly different variations''' of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with '''nonoholonomic constraints'''. What if the skewed gradient field goes against the constraints?<br />
** add some more bio-plausible componenets; for example, let the sensor give '''spikes instead of a continuous luminance signal''', use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
** add an '''observer for mu'''. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.<br />
** (Shuo) Explicitly deal with non-ideal factors in pracice: e.g. occlusion, lighting changes, moving objects in the scene...<br />
<br />
<br />
'''Experiments plan in detail (towards IROS)'''<br />
* Test the camera without helicopter.<br />
** Test interferences with helicopter transmitter.<br />
** Calibrate camera: get s_i, and compute M,N.<br />
** Test gradient directions without helicopter (eye-in-hand).<br />
*** test region of attraction for different orientations of camera.<br />
* Buy helicopter<br />
** Make helicopter work</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101752010 plans for visual stabilization/servoing2010-01-07T02:53:22Z<p>Andrea: </p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
* First of all: '''real experiments'''. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helicopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** (Shuo) It's possible to use the helicopter system with an onboard wireless camera. See: http://www.cs.cornell.edu/~asaxena/helicopter/autonomousindoorhelicopter_iros.pdf . This paper uses exactly the same helicopter that I used before. Another good thing is that I've had > 6 months of experience with this model.<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
** (Shuo) It's worthwhile to invest on a good camera at this point (also to save for future experiments). The Point Grey Ladybug seems a good choice: http://www.ptgrey.com/products/ladybug2/index.asp <br />
** Consider building a separate "calibration platform", such as a pan/tilt/roll unit to do the bootstrapping separatedly from<br />
the robotic platform.<br />
<br />
* '''Improve and refine the theory'''. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
** Work out differently the case of velocity control and force control.<br />
** Work out the case of camera not at the center of mass.\<br />
** In general, study the problem of bootstrapping on one platform and then change it. Are M, N simple linear combintations of the old ones? (e.g., rotation)<br />
** (Shuo) Try to get rid of some unrealistic assumptions: e.g., "a spherical fly"<br />
<br />
* '''Realistic implementation'''. <br />
** So far we worked with n pixels, with small n, and all the computations require n x n matrices.<br />
We should think of better computations (sparse matrices) for big n.<br />
<br />
* Do some '''small improvements''' that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some '''local nonlinearity''' as a first step, such as using contrast instead of luminance.<br />
** add back some '''non-bio-plausible elements''' and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* '''Study explicitly different variations''' of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with '''nonoholonomic constraints'''. What if the skewed gradient field goes against the constraints?<br />
** add some more bio-plausible componenets; for example, let the sensor give '''spikes instead of a continuous luminance signal''', use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
** add an '''observer for mu'''. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.<br />
** (Shuo) Explicitly deal with non-ideal factors in pracice: e.g. occlusion, lighting changes, moving objects in the scene...</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/ervoing&diff=101702010 plans for visual stabilization/ervoing2009-12-28T23:35:12Z<p>Andrea: 2010 plans for visual stabilization/ervoing moved to 2010 plans for visual stabilization/servoing</p>
<hr />
<div>#REDIRECT [[2010 plans for visual stabilization/servoing]]</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101692010 plans for visual stabilization/servoing2009-12-28T23:35:12Z<p>Andrea: 2010 plans for visual stabilization/ervoing moved to 2010 plans for visual stabilization/servoing</p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
* First of all: '''real experiments'''. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
* '''Improve and refine the theory'''. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some '''small improvements''' that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some '''local nonlinearity''' as a first step, such as using contrast instead of luminance.<br />
** add back some '''non-bio-plausible elements''' and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* '''Study explicitly different variations''' of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with '''nonoholonomic constraints'''. What if the skewed gradient field goes against the constraints?<br />
** add some more bio-plausible componenets; for example, let the sensor give '''spikes instead of a continuous luminance signal''', use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
** add an '''observer for mu'''. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=SNP_ideas&diff=10168SNP ideas2009-12-28T23:35:03Z<p>Andrea: SNP ideas moved to 2010 plans for visual stabilization/ervoing</p>
<hr />
<div>#REDIRECT [[2010 plans for visual stabilization/ervoing]]</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101672010 plans for visual stabilization/servoing2009-12-28T23:35:03Z<p>Andrea: SNP ideas moved to 2010 plans for visual stabilization/ervoing</p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
* First of all: '''real experiments'''. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
* '''Improve and refine the theory'''. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some '''small improvements''' that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some '''local nonlinearity''' as a first step, such as using contrast instead of luminance.<br />
** add back some '''non-bio-plausible elements''' and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* '''Study explicitly different variations''' of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with '''nonoholonomic constraints'''. What if the skewed gradient field goes against the constraints?<br />
** add some more bio-plausible componenets; for example, let the sensor give '''spikes instead of a continuous luminance signal''', use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
** add an '''observer for mu'''. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101662010 plans for visual stabilization/servoing2009-12-28T23:33:52Z<p>Andrea: </p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
* First of all: '''real experiments'''. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
* '''Improve and refine the theory'''. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some '''small improvements''' that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some '''local nonlinearity''' as a first step, such as using contrast instead of luminance.<br />
** add back some '''non-bio-plausible elements''' and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* '''Study explicitly different variations''' of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with '''nonoholonomic constraints'''. What if the skewed gradient field goes against the constraints?<br />
** add some more bio-plausible componenets; for example, let the sensor give '''spikes instead of a continuous luminance signal''', use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
** add an '''observer for mu'''. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101652010 plans for visual stabilization/servoing2009-12-28T23:32:30Z<p>Andrea: </p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
<br />
* First of all: real experiments. At this point we should really work on an experimental platform, for two reasons: 1) we have a nice story and enough theoretical material for a fair journal paper, but we need to test it for real; and 2) Even if we don't want to do a journal paper now, we should start working with something real; sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data. I see two options in the short term (not necessarily exclusive):<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
* Improve and refine the theory. There are several things left open:<br />
** Working out exactly when the modified contrast condition is equivalent to the contrast condition. The question of what implies what is not entirely clear.<br />
** Clarify different conditions for convergence in pose space (contrast condition) and in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some small improvements that could enhance the performance a lot (especially with real data I think). For example:<br />
** put some local nonlinearity as a first step, such as using contrast instead of luminance.<br />
** add back some non-bio-plausible elements and see if it makes a difference, such as adding the matrix inverse in computing the least squares estimation.<br />
<br />
* Study explicitly different variations of the problem, as in my slide at CDC, let's show how to put visual attitude stabilization, servoing, etc. in the same framework. Such a unification would make the work much more interesting to the community.<br />
<br />
<br />
* Medium term improvements:<br />
** study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with nonoholonomic constraints. What if the skewed gradient field goes against the constraints?<br />
<br />
** add some more bio-plausible componenets; for example, let the sensor give spikes instead of a continuous luminance signal, use stochastic units, etc. This is very interesting but it is essentially an orthogonal detour.<br />
<br />
** add an observer for mu. I got something very simple working in 2D so far. The people doing visual servoing would be very interested in this, and it would be our chance to study and give our take on structure-from-motion. I'm taking the computer vision course of Perona and Koch and I wanted to do something like this for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101642010 plans for visual stabilization/servoing2009-12-28T23:30:57Z<p>Andrea: </p>
<hr />
<div>The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
<br />
* First of all: real experiments. At this point we should really work on an experimental platform,<br />
for two reasons: 1) we have a nice story and enough theoretical material<br />
for a fair journal paper, but we need to test it for real; and 2) <br />
Even if we don't want to do a journal paper now, we should start working with something real;<br />
sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data.<br />
I see two options in the short term:<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
These two are not necessarily exclusive.<br />
<br />
* Improve and refine the theory. There are several things left open:<br />
1) Working out exactly when the modified contrast condition is equivalent<br />
to the contrast condition. The question of what implies what is not entirely clear.<br />
2) Clarify different conditions for convergence in pose space (contrast condition) and<br />
in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some small improvements that could enhance the performance a lot (especially with real data I think).<br />
For example:<br />
- put some local nonlinearity as a first step, such as using contrast instead of luminance.<br />
- add back some non-bio-plausible elements and see if it makes a difference, such as adding the<br />
matrix inverse in computing the least squares estimation.<br />
<br />
* Study explicitly different variations of the problem, as in my slide at CDC, let's show how to put <br />
visual attitude stabilization, servoing, etc. in the same framework.<br />
Such a unification would make the work much more interesting to the community.<br />
<br />
<br />
* Medium term improvements:<br />
- study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with<br />
nonoholonomic constraints. What if the skewed gradient field goes against the constraints?<br />
<br />
- add some more bio-plausible componenets; for example, let the sensor give spikes instead of a<br />
continuous luminance signal, use stochastic units, etc. This is very interesting but it is<br />
essentially an orthogonal detour.<br />
<br />
- add an observer for mu. I got something very simple working in 2D so far. The people doing visual servoing<br />
would be very interested in this, and it would be our chance to study and give our take on structure-from-motion.<br />
I'm taking the computer vision course of Perona and Koch and I wanted to do something like this <br />
for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101632010 plans for visual stabilization/servoing2009-12-28T23:30:41Z<p>Andrea: </p>
<hr />
<div><br />
The following are some directions for improving our work on visual stabilization/servoing,<br />
remaining in the same context (i.e., not discussing things like bootstrapping, or more complicated<br />
problems such as obstacle avoidance, SLAM, etc.).<br />
<br />
<br />
* First of all: real experiments. At this point we should really work on an experimental platform, <br />
for two reasons: 1) we have a nice story and enough theoretical material<br />
for a fair journal paper, but we need to test it for real; and 2) <br />
Even if we don't want to do a journal paper now, we should start working with something real;<br />
sometimes I think we do not have a fair assesment of the relevant phenomena when dealing with real data.<br />
I see two options in the short term:<br />
** helycopter with simulated vision (good for the dynamics, but not enough to qualify as a "real" experiment)<br />
** one wheeled robot with onboard camera (do we have one around that weighs less than a ton? can we borrow one from Burdick lab?)<br />
<br />
These two are not necessarily exclusive.<br />
<br />
* Improve and refine the theory. There are several things left open:<br />
1) Working out exactly when the modified contrast condition is equivalent<br />
to the contrast condition. The question of what implies what is not entirely clear.<br />
2) Clarify different conditions for convergence in pose space (contrast condition) and<br />
in image space (in ambiguous situations); treat them as two different problems.<br />
<br />
* Do some small improvements that could enhance the performance a lot (especially with real data I think).<br />
For example:<br />
- put some local nonlinearity as a first step, such as using contrast instead of luminance.<br />
- add back some non-bio-plausible elements and see if it makes a difference, such as adding the<br />
matrix inverse in computing the least squares estimation.<br />
<br />
* Study explicitly different variations of the problem, as in my slide at CDC, let's show how to put <br />
visual attitude stabilization, servoing, etc. in the same framework.<br />
Such a unification would make the work much more interesting to the community.<br />
<br />
<br />
* Medium term improvements:<br />
- study how we can integrate this approach, that essentially gives a "good enough" skewed gradient field, with<br />
nonoholonomic constraints. What if the skewed gradient field goes against the constraints?<br />
<br />
- add some more bio-plausible componenets; for example, let the sensor give spikes instead of a<br />
continuous luminance signal, use stochastic units, etc. This is very interesting but it is<br />
essentially an orthogonal detour.<br />
<br />
- add an observer for mu. I got something very simple working in 2D so far. The people doing visual servoing<br />
would be very interested in this, and it would be our chance to study and give our take on structure-from-motion.<br />
I'm taking the computer vision course of Perona and Koch and I wanted to do something like this <br />
for the course project.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=2010_plans_for_visual_stabilization/servoing&diff=101622010 plans for visual stabilization/servoing2009-12-28T20:05:33Z<p>Andrea: </p>
<hr />
<div><br />
Some directions to improve the work on bio-plausible design of visual control laws.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Nov_2009_meetings&diff=10061Nov 2009 meetings2009-11-15T21:01:32Z<p>Andrea: /* 23 Nov (Mon) */</p>
<hr />
<div>The list below has times that I am available to meet on 23-25 Nov. <br />
* Project meetings: please feel in your name if you ''cannot'' attend a project meeting at the listed time<br />
* One-on-one meetings: Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). <br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== 23 Nov (Mon) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open (30 min slot)}}<br />
{{agenda item|10:00a|Exam}}<br />
{{agenda item|12:00p|Project meeting #1:<br />
* Enter your name if you can't attend a project meeting at this time<br />
* Andrea (hay clase de español, pero puedo llegar si es necesario) <br />
* Bring your own lunch<br />
}}<br />
{{agenda item|1:30p|Open (30 min slot)}}<br />
{{agenda item|2:00p|Exam}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Nok}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== 24 Nov (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Ophelia}}<br />
{{agenda item|10:30a|Open}}<br />
{{agenda item|11:30a|Open (30 min slot)}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Project meeting #2<br />
* Enter your name if you can't attend a project meeting at this time<br />
* Ufuk<br />
}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Ufuk}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== 25 Nov (Wed) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:30a|Project meeting #3<br />
* Enter your name if you can't attend a project meeting at this time<br />
}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Open}}<br />
{{agenda item|2:30p|Open}}<br />
{{agenda item|3:30p|Open}}<br />
{{agenda item|4:30p|Andrea}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Nov_2009_meetings&diff=10060Nov 2009 meetings2009-11-15T20:59:25Z<p>Andrea: /* 25 Nov (Wed) */</p>
<hr />
<div>The list below has times that I am available to meet on 23-25 Nov. <br />
* Project meetings: please feel in your name if you ''cannot'' attend a project meeting at the listed time<br />
* One-on-one meetings: Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). <br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=30%><br />
==== 23 Nov (Mon) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open (30 min slot)}}<br />
{{agenda item|10:00a|Exam}}<br />
{{agenda item|12:00p|Project meeting #1:<br />
* Enter your name if you can't attend a project meeting at this time<br />
* Bring your own lunch<br />
}}<br />
{{agenda item|1:30p|Open (30 min slot)}}<br />
{{agenda item|2:00p|Exam}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Nok}}<br />
{{agenda end}}<br />
<br />
</td><td width=30%><br />
<br />
==== 24 Nov (Tue) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Ophelia}}<br />
{{agenda item|10:30a|Open}}<br />
{{agenda item|11:30a|Open (30 min slot)}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Project meeting #2<br />
* Enter your name if you can't attend a project meeting at this time<br />
* Ufuk<br />
}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Ufuk}}<br />
{{agenda end}}<br />
</td><td width=30%><br />
<br />
==== 25 Nov (Wed) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:30a|Project meeting #3<br />
* Enter your name if you can't attend a project meeting at this time<br />
}}<br />
{{agenda item||}}<br />
{{agenda item|1:30p|Open}}<br />
{{agenda item|2:30p|Open}}<br />
{{agenda item|3:30p|Open}}<br />
{{agenda item|4:30p|Andrea}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Model-Based_Design_and_Qualification_of_Complex_Systems&diff=9454Model-Based Design and Qualification of Complex Systems2009-06-06T02:17:27Z<p>Andrea: </p>
<hr />
<div>This is a joint project with [http://crossgroup.caltech.edu/index.html Michael Cross], [http://www.cds.caltech.edu/~doyle John Doyle] and [http://www.cmp.caltech.edu/refael/ Gil Refael], funded by Boeing.<br />
<br />
{| width=100%<br />
|- valign=top<br />
| Current participants:<br />
* {{Julia Braman}}<br />
* Dennice Gayme (PhD student, CDS)<br />
* {{Shou Han}}<br />
* Oleg Kogan (PhD student, Physics)<br />
* Tony Lee (PhD student, Physics)<br />
* {{Dominic Rizzo}}<br />
* Heywood Tam (PhD student, Physics)<br />
* {{Pete Trautman}}<br />
* {{Nok Wongpiromsarn}}<br />
| Past participants:<br />
* David Alderson (CDS postdoc, NPS)<br />
* Lijun Chen (CDS PhD, postdoc)<br />
* Lars Cremean (ME PhD, Aerovironment)<br />
* Stefano di Cairano (Visiting student, U. Siena)<br />
* Michael Epstein (PhD student, ME)<br />
* Tamas Keviczky (postdoc, CDS)<br />
* Dimitry Kogan (CDS MS)<br />
* Lun Li (PhD student, EE)<br />
* Alfred Martinez (PhD student, CDS)<br />
* Stephen Prajna (CDS PhD)<br />
* Demetri Spanos (PhD student, CDS)<br />
* {{Johan Ugander}}<br />
* Fei Wang (EE PhD; on leave)<br />
| <br />
__TOC__<br />
|}<br />
<br />
== Objectives ==<br />
<br />
The broad goal of this project is to develop new theory, algorithms<br />
and demonstrations of model-based design strategies for complex<br />
systems. This activity is broken up into three broad themes:<br />
* <p>''Systems Modeling Theory and Practice:'' Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space). </p><br />
<br />
* <p> ''Engineering Implementation:'' Apply analysis and methods in robust-yet-fragile behavior and multi-scale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multi-vehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").</p><br />
<br />
* <p> ''Multiscale Analysis of Complex Systems:'' Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency. </p><br />
<br />
== Publications ==<br />
'''2008-09'''<br />
* Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs." International Conference on Software Engineering, 2009 (submitted). <br />
<br />
* Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted). <br />
<br />
* Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted). <br />
<br />
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle. ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of Cyber-Physical Software Systems (submitted).<br />
<br />
* Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray, Receding Horizon Temporal Logic Planning for Dynamical Systems. Conference on Decision and Control (CDC), 2009 (submitted).<br />
<br />
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://www.cds.caltech.edu/~murray/papers/2008r_wmml09-hscc.html Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. International Conference on Hybrid Systems: Computation and Control, 2009. <br />
<br />
* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://resolver.caltech.edu/CaltechCDSTR:2008.003 Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. CDS Technical Report, California Institute of Technology, 2008.<br />
<br />
<br />
'''2007-08'''<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008f_bm08-cdc.html Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty]. Conference on Decision and Control, 2008 (submitted).<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007u_bm07-cds.html Conversion and Verification Procedure for Goal-Based Control Programs]. CDS Technical Report, California Institute of Technology, 2007.<br />
<br />
* Julia M B Braman, Richard M Murray, David A Wagner, [http://www.cds.caltech.edu/~murray/papers/2007t_bmw07-iros.html Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007<br />
<br />
* Julia M B Braman, Richard M Murray, Michel D Ingham, [http://www.cds.caltech.edu/~murray/papers/2007s_bmi07-infotech.html Verification Procedure for Generalized Goal-based Control Programs]. AIAA Infotech@Aerospace Conference and Exhibit, 2007.<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007n_bm08-acc.html Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty]. American Control Conference, 2008 (to appear).<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007i_bm08-iros.html Automatic Conversion Software for the Safety Verification of Goal-based Control Programs]. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).<br />
<br />
* Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, [http://gc.caltech.edu/media/papers/dgc07-final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA Urban Challenge Final Report, 2007.<br />
<br />
* L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Game-theoretic Approach". Proceedings of IEEE CDC, December 2007.<br />
<br />
* L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A Game-Theoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.<br />
<br />
* T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Ad-hoc and Sensor Systems, October 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.<br />
<br />
* Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008c_dwbm08-ivcs.html Situational Reasoning for Road Driving in an Urban Environment]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).<br />
<br />
* Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008i_estm08-automatica.html Probabilistic Performance of State Estimation Across a Lossy Network]. Automatica, 2008 (to appear).<br />
<br />
* Michael Epstein, Ling Shi, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007w_esm07-cdc.html Estimation schemes for networked control systems using UDP-like communication]. Conference on Decision and Control (CDC), 3945 - 3951, 2007.<br />
<br />
* Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007p_eljm08-ifac.html Using Hierarchical Decomposition to Speed Up Average Consensus]. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).<br />
<br />
* Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearest-neighbor Kuramoto oscillators", 2008 (in preparation).<br />
<br />
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008h_wm08-cdc.html Formal Verification of an Autonomous Vehicle System]. Conference on Decision and Control, 2008 (submitted).<br />
<br />
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008d_wm08-ivcs.html Distributed Mission and Contingency Management for the DARPA Urban Challenge]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).<br />
<br />
'''2006-07'''<br />
* D. Alderson and L. Li. [http://www.cds.caltech.edu/~lun/publications/PRE06.pdf On the Diversity of Graph with Highly Variable Connectivity]. ''Physical Review E'', 2007.<br />
<br />
* F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. ''IEEE Trans. Automatic Control'', 2007, submitted.<br />
<!--<br />
* J. M. B. Braman, D. A. Wagner and R. M. Murray. [http://www.cds.caltech.edu/~murray/papers/2006m_bwm07-icra.html Fault Tolerance of a Reconfigurable Autonomous Goal-Based Robotic Control System]. 2007 International Confeerence on Robotics and Automation (ICRA), 2007. <br />
--><br />
<br />
* L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.<br />
<br />
* L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. {{htdb|2005t_cre+06-jfr|Alice: An information-rich autonomous vehicle for high-speed desert navigation}}. ''Journal of Field Robotics'', 2007. <br />
<br />
* T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.<br />
<br />
* J.-C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In ''Proceedings of the European Control Conference'', 2007. <br />
<br />
* D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.<br />
<br />
* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.<br />
<br />
* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. The Statistical Mechanics of Fluctuation-Dissipation and Measurement Back Action. In ''Proceedings of the American Control Conference'', 2007.<br />
<br />
* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. Linear-Quadratic-Gaussian Heat Engines. Submitted, 2007.<br />
<br />
* H. Sandberg and R. M. Murray. Frequency-Weighted Model Reduction with Applications to Structured Models. In ''Proceedings of the American Control Conference'', 2007.<br />
<br />
* J. Wang, L. Li, S. H. Low, and J. C. Doyle. Cross-layer optimization in tcp/ip networks. ''IEEE/ACM Transactions on Networking'', 13(3), 2006.<br />
<br />
'''2005-06'''<br />
* D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. ''IEEE/ACM Transactions on Networking'', 13(6), 2005. <br />
<br />
* D. Alderson and W. Willinger. A contrasting look at self-organization in the Internet and next-generation communication networks. ''IEEE Communications Magazine'', July 2005. <br />
<br />
* L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Cross-layer congestion control, routing and scheduling design in ad hoc wireless networks. In ''Proceedings of IEEE Infocom'', 2006. <br />
<br />
* L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In ''Proceedings of IEEE Infocom'', 2005. <br />
<br />
* L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.<br />
<br />
* J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile'' nature of the Internet. ''Proceedings of the National Academy of Sciences'', 102(41):14497--14502, 2005. <br />
<br />
* D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006. <br />
<br />
* D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In ''Proc. IEEE Control and Decision Conference'', 2006. Submitted. <br />
<br />
* S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2005. <br />
<br />
* D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005. <br />
<br />
* L. Li, D. Alderson, J. C. Doyle and W. Willinger. [http://www.cds.caltech.edu/~lun/publications/IM06.pdf Towards a Theory of Scale-Free Graphs: Definition, Properties, and Implications]. ''Internet Mathematics'' 2(4), p 431-523, Mar. 2006.<br />
<br />
* L. Li, D. Alderson, W. Willinger and J. C. Doyle. [http://www.cds.caltech.edu/~lun/publications/sigcomm04.pdf A First-Principles Approach to Understanding the Internet's Router-level Topology]. Proceedings of ACM Sigcomm, 2004,<br />
<br />
* S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.<br />
<br />
* S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2004. <br />
<br />
* S. Prajna and A. Jadbabaie. Methods for safety verification of time-delay systems. In ''Proceedings of the IEEE Conference on Decision and Control'', 2005. <br />
<br />
* S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In ''Proceedings of the IEEE Conference on Decision and Control'', 2004. <br />
<br />
* S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS -- Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004. <br />
<br />
* S. Prajna and A. Rantzer. On the necessity of barrier certificates. In ''Proceedings of the IFAC World Congress'', 2005. <br />
<br />
* S. Prajna and A. Rantzer. Primal-dual tests for safety and reachability. In ''Hybrid Systems: Computation and Control''. Springer-Verlag, 2005.<br />
<br />
== Reports ==<br />
* [[Media:boeing_report-may08.pdf|Annual report, May 2007 to April 2008]]<br />
* [[Media:boeing_report-mar06.pdf|Annual report, January 2005 to March 2006]]<br />
* [[Media:boeing_report-apr06.pdf|Annual report, March 2006 to April 2007]]<br />
<br />
== Software ==<br />
* SOSTOOLS<br />
<br />
== Related Activities ==<br />
* [[Connections II]] - Workshop on Foundations of Network Science (Caltech, August 2006)<br />
* [http://www.cds.caltech.edu/~murray/VaVmuri V&V MURI] - Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)<br />
* [[Workshop: Specification and Verification of Embedded Systems]] - (Caltech, October 2008)</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Spring_2009_Meeting_Schedule&diff=9236Spring 2009 Meeting Schedule2009-03-19T16:52:51Z<p>Andrea: /* Fri */</p>
<hr />
<div>__NOTOC__<br />
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Dionysios}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ufuk}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Vanessa}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Nok}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Dom}}<br />
{{agenda item|2:00p|Julia}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Yizhar}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Andrea}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Mar_2009_meetings&diff=8987Mar 2009 meetings2009-02-27T05:10:14Z<p>Andrea: /* Tue, 3 Mar */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Mar and 13 Mar. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Dionysios}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Tue, 3 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (45 min)}}<br />
{{agenda item|2:15p|Stephan (45 min)}}<br />
{{agenda item|5:00p|Mumu}}<br />
{{agenda item|6:00p|Andrea}}<br />
{{agenda item|7:00p|Francisco (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Dom}}<br />
{{agenda item|5:00p|Aldo}}<br />
{{agenda item|6:00p|Håkan (45 min)}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
<br />
==== Mon, 9 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Yizhar}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Shuo}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Tue, 10 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Pete}}<br />
{{agenda item|6:00p|Ophelia}}<br />
{{agenda item|7:00p|Nok (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 11 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Julia}}<br />
{{agenda item|5:00p|Ufuk}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Feb_2009_meetings&diff=8884Feb 2009 meetings2009-01-26T18:03:49Z<p>Andrea: /* Fri, 13 Feb */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Feb and 13 Feb. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Dionysios}}<br />
{{agenda item|5:00p|Ufuk}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Nok}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|9:00a|Sawyer}}<br />
{{agenda item|12:00p|Group meeting}}<br />
{{agenda item|2:00p|Stephan}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Mon, 9 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|8:30a|Open}}<br />
{{agenda item|11:30a|Aldo}}<br />
{{agenda item|1:00p|Yizhar}}<br />
{{agenda item|2:00p|Julia}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 13 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Shuo}}<br />
{{agenda item|3:00p|Andrea}}<br />
{{agenda item|4:00p|Francisco}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Andreahttps://murray.cds.caltech.edu/index.php?title=Winter_2009_Meeting_Schedule&diff=8681Winter 2009 Meeting Schedule2008-12-21T18:14:47Z<p>Andrea: /* Fri */</p>
<hr />
<div>__NOTOC__<br />
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Odd: Francisco}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Andrea}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Winter_2009&diff=8680Group Schedule, Winter 20092008-12-21T18:13:41Z<p>Andrea: /* Group Meetings */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
* [[Winter 2009 Meeting Schedule]]<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar]<br />
| width=50% |<br />
* [[Group Schedule, Fall 2008]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are at noon in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|7 Jan (Wed)|Lars Blackmore}}<br />
{{agenda item|12 Jan (Mon)|Open}}<br />
{{agenda item|21 Jan (Wed)|Hold: Walid}}<br />
{{agenda item|28 Jan (Wed)|Open}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|6 Feb (Fri)|Open}}<br />
{{agenda item|12 Feb (Thu)|Open}}<br />
{{agenda item|18 Feb (Wed)|Open}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|25 Feb (Wed)|Open}}<br />
{{agenda item|6 Mar (Fri)|Andrea}}<br />
{{agenda item|13 Mar (Fri)|Open}}<br />
{{agenda end}}<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=David_Hill,_Dec_08&diff=8522David Hill, Dec 082008-12-02T07:54:50Z<p>Andrea: /* Schedule */</p>
<hr />
<div>David Hill from Australian National University will be visiting Caltech on 4-5 Dec (Thu-Fri).<br />
<br />
=== Schedule ===<br />
<br />
4 Dec (Thu)<br />
* 7:30 am - breakfast with Richard<br />
* 8:45 am - Francisco/Sawyer<br />
* 9:30 am - Ufuk/Nok<br />
* 10:15 am - open<br />
* 10:45 am - seminar prep<br />
* 11:00 am - Seminar, 114 Steele<br />
* 12:00 pm - Lunch with CDS faculty<br />
* 1:30 pm - open<br />
* 2:15 pm - Steven Low<br />
* 3:00 pm - Shuo/Andrea<br />
* 3:45 pm - open<br />
<br />
5 Dec (Fri)<br />
* Appointments on request (send e-mail to Richard)<br />
* 1:30 pm - Mani Chandy<br />
<br />
=== Seminar Abstract ===<br />
<center><br />
'''Feedback Networks'''<br />
<br />
David J Hill<br><br />
Federation Fellow<br><br />
Research School of Information Sciences and Engineering<br><br />
The Australian National University (ANU)<br />
</center><br />
The field of systems and control has gone through stages based around focus on <br />
preferred models for systems and appropriate structures for controllers, including linear systems and state variable feedback, time-varying parametric systems and adaptive control, nonlinear systems and optimal control and so on. However, important control tasks in living systems and modern infrastructure technology actually take the form of systems with network structure controlled by distributed control, with switching, time-delays and other complexities, i.e. control of <br />
networks by networks or feedback networks. Examples in engineering include power grids, road traffic control and Internet congestion control. This model opens up a plethora of new systems and control science questions, which are being studied by separate communities in science and engineering. <br />
<br />
This seminar will describe recent work in this area mainly focussing on work in the Lab for Networks and Control at ANU. The emphasis is on the role of structure, i.e. the various graphs in the networks (system, sensing and controller), stability-related questions and self-organising mechanisms for control.<br />
<br />
=== Biography ===<br />
David J Hill received the BE and BSc degrees from the University of Queensland, Australia, in 1972 and 1974, respectively. He received the PhD degree in Electrical Engineering from the University of Newcastle, Australia, in 1976. He is currently a Professor and Australian Research Council Federation Fellow in the Research School of Information Sciences and Engineering at The Australian National University. He has held academic and substantial visiting positions at the universities of Melbourne, California (Berkeley), Newcastle (Australia), Lund (Sweden), Sydney and Hong Kong (City University). He holds honorary professorships at the University of Sydney, University of Queensland (Australia), South China University of Technology, City University of Hong Kong, Wuhan University and Northeastern University (China). His research interests are in network systems science, stability analysis, nonlinear control and applications. He is a Fellow of the Institution of Engineers, Australia, the Institute of Electrical and Electronics Engineers, USA and the Australian Academy of Science; he is also a Foreign Member of the Royal Swedish Academy of Engineering Sciences.</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Fall_2008_Meeting_Schedule&diff=7976Fall 2008 Meeting Schedule2008-09-24T12:58:28Z<p>Andrea: /* Mon */</p>
<hr />
<div>__NOTOC__<br />
Sign up for a time to meet. Note that different slots are for different amounts of time. Here are some guides:<br />
* 30 minute slot - weekly meeting; good if you are busy with mainly classes<br />
* 60 minute slot - standard weekly meeting<br />
* 90 minute slot - ''biweekly'' meeting. Pick even or odd weeks (week of 29 Sep = odd)<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Andrea}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open}}<br />
{{agenda item|2:30p|Open (short)}}<br />
{{agenda item|3:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|3:30p|Open (short)}}<br />
{{agenda item|4:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Fall_2008_Meeting_Schedule&diff=7975Fall 2008 Meeting Schedule2008-09-24T12:57:50Z<p>Andrea: /* Mon */</p>
<hr />
<div>__NOTOC__<br />
Sign up for a time to meet. Note that different slots are for different amounts of time. Here are some guides:<br />
* 30 minute slot - weekly meeting; good if you are busy with mainly classes<br />
* 60 minute slot - standard weekly meeting<br />
* 90 minute slot - ''biweekly'' meeting. Pick even or odd weeks (week of 29 Sep = odd)<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Open}}<br />
{{agenda item|5:30p|Andrea}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open}}<br />
{{agenda item|2:30p|Open (short)}}<br />
{{agenda item|3:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|3:30p|Open (short)}}<br />
{{agenda item|4:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Andreahttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Summer_2008&diff=7849Group Schedule, Summer 20082008-06-08T15:56:14Z<p>Andrea: /* Group Meetings */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
* [[Summer 2008 Meeting Schedule]]<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar]<br />
| width=50% |<br />
* [[Group Schedule, Spring 2008]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are on Tuesdays at *noon* in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|17 Jun|Dionysios}}<br />
{{agenda item|24 Jun|Andrea}}<br />
{{agenda item|1 Jul|Open}}<br />
{{agenda item|8 Jul|No group meeting (IFAC)}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|15 Jul|No group meeting (RMM out)}}<br />
{{agenda item|22 Jul|Open}}<br />
{{agenda item|5 Aug|No group meeting (AFOSR)}}<br />
{{agenda item|12 Aug|Open}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|19 Aug|No group meeting (ARO)}}<br />
{{agenda item|26 Aug|No group meeting (Sweden)}}<br />
{{agenda item|2 Sep|Nok}}<br />
{{agenda item|9 Sep|No group meeting (Berkeley)}}<br />
{{agenda end}}<br />
|}</div>Andrea