https://murray.cds.caltech.edu/api.php?action=feedcontributions&user=Vasu&feedformat=atomMurray Wiki - User contributions [en]2022-11-28T12:52:17ZUser contributionsMediaWiki 1.37.2https://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18484ME/CS 132b, Spring 20152015-05-19T22:06:03Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/26/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning <br />
| LaValle Chapter 7.2<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18483ME/CS 132b, Spring 20152015-05-19T16:40:45Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning <br />
| LaValle Chapter 7.2<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18482ME/CS 132b, Spring 20152015-05-19T16:40:15Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning, '''Project team meetings'''<br />
| LaValle Chapter 7.2<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18443ME/CS 132b, Spring 20152015-05-04T17:33:51Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18442ME/CS 132b, Spring 20152015-05-04T17:33:30Z<p>Vasu: /* Final Project Information */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/11/15'''<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18441ME/CS 132b, Spring 20152015-05-04T17:33:13Z<p>Vasu: /* Final Project Information */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/11/15'''<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Mon May 11, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18440ME/CS 132b, Spring 20152015-05-04T17:32:54Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/11/15'''<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18439ME/CS 132b, Spring 20152015-05-04T17:32:40Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 11/08/15'''<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18438ME/CS 132b, Spring 20152015-05-04T17:25:32Z<p>Vasu: /* Final Project Information */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 <br />
** '''Project Due Date:''' Wed June 10, 2015 (Sat, June 6 for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18437ME/CS 132b, Spring 20152015-05-01T02:15:12Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3.2, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18436ME/CS 132b, Spring 20152015-05-01T02:14:48Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18435ME/CS 132b, Spring 20152015-05-01T02:14:35Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
| LaValle Chapter 12.3.3, <br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18434ME/CS 132b, Spring 20152015-04-29T05:08:47Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/06/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
|<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18433ME/CS 132b, Spring 20152015-04-27T16:35:22Z<p>Vasu: /* Homework/Labs */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
|<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:ME132BLab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132BHomework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132BHomework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:ME132BLab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18432ME/CS 132b, Spring 20152015-04-27T16:34:53Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132BLab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132BHomework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132BHomework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
|<br />
| [[media:ME132BLab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18431ME/CS 132b, Spring 20152015-04-27T05:43:10Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Sensor-Based Planning: Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18430ME/CS 132b, Spring 20152015-04-23T19:14:30Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| LaValle Chapters 12.3, 5<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18425ME/CS 132b, Spring 20152015-04-21T12:17:27Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions, Roadmaps, Voronoi Decomposition and Visibility Graphs<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18424ME/CS 132b, Spring 20152015-04-21T12:16:31Z<p>Vasu: /* Homework/Labs */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18423ME/CS 132b, Spring 20152015-04-21T12:16:17Z<p>Vasu: /* Final Project Information */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri May 8, 2015 by 5pm <br />
** '''Project Due Date:''' Wed June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18422ME/CS 132b, Spring 20152015-04-21T12:15:56Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18421ME/CS 132b, Spring 20152015-04-21T12:15:36Z<p>Vasu: /* Homework/Labs */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues Apr 14, 2015 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Additional Reference Material:''' [https://www.cds.caltech.edu/~murray/wiki/images/2/27/StarAlgorithm.pdf Joel Burdick's Notes on the Star Algorithm]<br />
** '''Due Date:''' Tues Apr 28, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Tues Apr 5, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18419ME/CS 132b, Spring 20152015-04-20T15:05:48Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| No class<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/28/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/05/15'''<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Fri, April 10, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Fri, April 17, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18409ME/CS 132b, Spring 20152015-04-08T23:09:23Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/21/15'''<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| -N/A-<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Fri, April 10, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Fri, April 17, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18408ME/CS 132b, Spring 20152015-04-08T23:08:06Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/24/15'''<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| -N/A-<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Fri, April 10, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Fri, April 17, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=File:ME132Lab1.pdf&diff=18399File:ME132Lab1.pdf2015-04-03T23:05:19Z<p>Vasu: </p>
<hr />
<div></div>Vasuhttps://murray.cds.caltech.edu/index.php?title=File:ME132BOverview.pdf&diff=18398File:ME132BOverview.pdf2015-04-03T16:48:19Z<p>Vasu: Vasu uploaded a new version of &quot;File:ME132BOverview.pdf&quot;</p>
<hr />
<div></div>Vasuhttps://murray.cds.caltech.edu/index.php?title=File:ME132BOverview.pdf&diff=18362File:ME132BOverview.pdf2015-03-31T19:06:17Z<p>Vasu: Vasu uploaded a new version of &quot;File:ME132BOverview.pdf&quot;</p>
<hr />
<div></div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18360ME/CS 132b, Spring 20152015-03-31T16:12:13Z<p>Vasu: /* Grading */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<br />
<br />
If you have any requests or concerns with respect to accessibility in the lab, please contact course staff before the first lab session. You may find additional helpful resources at http://diversitycenter.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/17/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| -N/A-<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Fri, April 10, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Fri, April 17, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18359ME/CS 132b, Spring 20152015-03-31T16:05:15Z<p>Vasu: /* Homework/Labs */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/17/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| -N/A-<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Fri, April 10, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Fri, April 17, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18358ME/CS 132b, Spring 20152015-03-31T16:04:52Z<p>Vasu: /* Lecture Schedule/handouts/homeworks/lab */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/10/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/17/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| -N/A-<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18357ME/CS 132b, Spring 20152015-03-31T16:02:03Z<p>Vasu: /* Prerequisites */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18356ME/CS 132b, Spring 20152015-03-31T16:01:40Z<p>Vasu: /* Prerequisites */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of C, C++ or Python.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18355ME/CS 132b, Spring 20152015-03-31T15:55:09Z<p>Vasu: /* Course Texts */</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steven M. LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=File:ME132BOverview.pdf&diff=18354File:ME132BOverview.pdf2015-03-31T15:47:24Z<p>Vasu: Vasu uploaded a new version of &quot;File:ME132BOverview.pdf&quot;</p>
<hr />
<div></div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18353ME/CS 132b, Spring 20152015-03-31T15:45:11Z<p>Vasu: </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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132BOverview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steve LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132BOverview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18352ME/CS 132b, Spring 20152015-03-31T15:40:10Z<p>Vasu: </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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132Overview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steve LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132Overview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=ME/CS_132b,_Spring_2015&diff=18351ME/CS 132b, Spring 20152015-03-31T15:39:53Z<p>Vasu: Created page with "{| width=100% |- | colspan=2 align=center | <font color='blue' size='+2'>Advanced Robotics: Navigation and Vision</font> |- valign=top |} <table width=100%> <tr valign=top> <t..."</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 />
'''Instructor'''<br />
* Vasu Raman, vasu@caltech.edu <br />
* <b> Office hours:</b> After class or by appointment<br />
'''Lectures:''' Tue/Thu, 1:00-2:25pm, 24 BBB <br />
</td><td width=5%></td><td width=45%><br />
'''Teaching Assistants''' <br />
* TBA<br />
* Office hours: TBA<br />
'''Course Website''': http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2015<br />
'''Course Piazza Site''': http://piazza.com/caltech/spring2015/mecs132b/home<br />
<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
* The first lecture on 3/31 at 1:00pm in Room 24 BBB with a [[media:ME132Overview.pdf | Course Overview]].<br />
<br />
== Course Information ==<br />
=== Prerequisites ===<br />
There are no formal prerequisites for the course, and some of the required background material will be reviewed during the first weeks of lecture. The instructional content of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the lab at the end of ME/CS 132(a), and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, C++, Python, or MATLAB.<br />
<br />
=== Grading ===<br />
ME/CS 132(b) is primarily a project-based course, and sixty percent (60%) of the grade will be based on a <b> final project</b> which is due during finals period. The final project can be done in teams with the instructor's approval. The grade will also be based on <b> 2 homeworks</b> (20% of total grade) and <b> 2 lab assignments </b> (20% of total grade). <br />
<br />
* '''Homework''': Homework is usually due ten days after it is assigned, and is intended to test your comprehension of material covered during lectures. Instructions for submission will be provided with each homework. <br />
* '''Labs''': Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. Lab 1 is intended to review control of the differential drive robots in the lab, and introduce some additional motion planning challenges that were abstracted for you in ME/CS 132(a). Lab 2 will occur after most of the course material has been covered in lecture, and is intended to help you prepare for the final project. Its timing is also intended to spark ideas for the final project proposal, so students are advised to use it as an exploratory device rather than stick to the bare bones of the assignment.<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. All our activities in this course will be governed by the [https://deans.caltech.edu/HonorCode/HonorSystem Caltech Honor Code].<br />
<br />
=== Piazza ===<br />
Students are highly encouraged to post questions and answers on the [https://piazza.com/caltech/spring2015/mecs132b/home course Piazza site].<br />
* The site will be monitored on business days by the course staff. Students can expect an answer within one business day.<br />
* Students are expected to communicate in a professional manner.<br />
<br />
=== Course Texts ===<br />
There is only one required textbook, which is freely available on the web: <br />
* <b> Planning Algorithms</b> by <em> Steve LaValle</em> (Cambridge Univ. Press, New York, 2006).<br />
* The [http://msl.cs.uiuc.edu/planning book website is here]; If you plan to continue work in the field of robotics, then you should consider [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051 buying] the text. A copy has been placed [http://clas.caltech.edu/record=b1393205~S0 on reserve] at the library.<br />
<!-- Some of the course material is also covered in these <em> optional </em> references:<br />
* <b> Principles of Robot Motion: Theory, Algorithms, and Implementation</b>, by <em> H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun </em>, MIT Press, 2007.<br />
* <b> Introduction to Autonomous Mobile Robots</b> by <em>R. Siegwart and I. R. Nourbakhsh</em>, MIT Press, 2004.--><br />
The following textbook used last quarter will continue to be a useful optional reference:<br />
* <b>Probabilistic Robotics</b> by <em>Sebastian Thrun, Wolfram Burgard, and Dieter Fox</em>, MIT Press, 2005.<br />
<br />
This book is most likely to come in handy for some choices of final project. If you have bought the above book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information from that text that is needed this quarter. In any case, a copy has been placed [http://clas.caltech.edu/record=b1389856~S0 on reserve] at the library.<br />
<br />
== Lecture Schedule/handouts/homeworks/lab == <br />
{| border=1 width=85%<br />
|Week<br />
|Date<br />
|Topic<br />
|Reading<br />
|Homework<br />
|-<br />
|rowspan=2 align="center" | 1<br />
|31 Mar (Tu)<br />
|[[media:ME132Overview.pdf | Course Overview]], Introduction to Motion Planning<br />
|LaValle Chapter 1<br />
| -N/A-<br />
|-<br />
| 2 Apr (Th)<br />
| Reference Frames, Configuration Spaces and Kinematics<br />
| LaValle 3.2, 3.3, 4.2, 4.3<br />
| [[media:ME132Lab1.pdf | Lab 1]] <br> '''due 04/14/15'''<br />
|-<br />
|rowspan=2 align="center" | 2<br />
| 7 Apr (Tu)<br />
| No class -- '''Lab Week'''<br />
| <br />
| -N/A-<br />
|-<br />
| 9 Apr (Th)<br />
| Potential Functions and Navigation Functions<br />
| LaValle Chapter 8<br />
| [[media:ME132Homework1.pdf | Homework 1]] <br> '''due 04/20/15'''<br />
|-<br />
|rowspan=2 align="center" | 3<br />
| 14 Apr (Tu)<br />
| Cell Decompositions and Roadmaps<br />
| LaValle Chapter 6<br />
| -N/A-<br />
|-<br />
| 16 Apr (Th)<br />
| Voronoi Decomposition and Visibility Graphs<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 4<br />
| 21 Apr (Tu)<br />
| Graph Search<br />
| LaValle Chapter 2<br />
| [[media:ME132Homework2.pdf | Homework 2]] <br> '''due 05/01/15'''<br />
|-<br />
| 23 Apr (Th)<br />
| D* Algorithm, Intro to Sampling-Based Planners<br />
| <br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 5<br />
| 28 Apr (Tu)<br />
| Sampling-Based Methods: PRM, RRT and variants<br />
| LaValle Chapter 5<br />
| -N/A-<br />
|-<br />
| 30 Apr (Th)<br />
| Bug Algorithms<br />
|<br />
| [[media:ME132Lab2.pdf | Lab 2]] <br> '''due 05/15/15'''<br />
|-<br />
|rowspan=2 align="center" | 6<br />
| 5 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 7 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| [[media:ME132ProjectProposal.pdf | Project Proposal]] <br> '''due 05/08/15'''<br />
|-<br />
|rowspan=2 align="center" | 7<br />
| 12 May (Tu)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
| 14 May (Th)<br />
| No class - '''Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 8<br />
|19 May (Tu)<br />
| Multi-Robot Motion Planning (tentative), '''Project team meetings'''<br />
|<br />
| -N/A-<br />
|-<br />
|21 May (Th)<br />
| Special Topics (TBD)<br />
|<br />
| -N/A-<br />
|-<br />
|rowspan=2 align="center" | 9<br />
|26 May (Tu)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|28 May (Th)<br />
| No class - '''Project Lab Week'''<br />
|<br />
| -N/A-<br />
|-<br />
|}<br />
<br />
== Homework/Labs ==<br />
* [[media:Lab1.pdf | Lab 1]]<br />
** '''Subject:''' controlling a differential drive robot<br />
** '''Due Date:''' Tues, April 14, 2013 by 5pm.<br />
* [[media:ME132Homework1.pdf | Homework 1]] <br />
** '''Subject:''' configuration spaces and navigation functions<br />
** '''Due Date:''' Monday, April 20, 2015 by 5pm.<br />
* [[media:ME132Homework2.pdf | Homework 2]] <br />
** '''Subject:''' 2D roadmaps<br />
** '''Due Date:''' Fri, May 1, 2015 by 5pm.<br />
* [[media:Lab1.pdf | Lab 2]]<br />
** '''Subject:''' sampling-based methods, sensor-based planning<br />
** '''Due Date:''' Fri, May 15, 2013 by 5pm.<br />
<br />
== Final Project Information ==<br />
* [[media: FinalProject.pdf | Final Project]]<br />
** '''Pre-proposal Due Date:''' Fri, May 8, 2015 by 5pm (in electronic copy) to the instructor<br />
** '''Project Due Date:''' Wed, June 10, 2015 by 5pm (Sat, June 6 by 5pm for seniors)</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=File:ME132BOverview.pdf&diff=18350File:ME132BOverview.pdf2015-03-31T15:38:52Z<p>Vasu: </p>
<hr />
<div></div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Spring_2015&diff=18346Group Schedule, Spring 20152015-03-30T00:15:30Z<p>Vasu: /* Week 7: 11 May - 15 May */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [[Schedule|Richard's calendar (travel)]]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2015]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:<br />
<br />
:{| width=100%<br />
|- valign=top<br />
| width=33% |<br />
* Group meetings - 213 ANB<br />
| width=33% |<br />
* Biocircuits subgroup - 111 Keck<br />
| width=33% |<br />
* NCS subgroup - 243 ANB<br />
|}<br />
<br />
{| width=100% border=1<br />
<br />
|- valign=top<br />
| width=33% |<br />
=== Week 1: 30 Mar - 3 Apr ===<br />
<br />
'''Biocircuits: 1 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Lab safety (Clare, Richard)<br />
* Ania Baetica (short)<br />
<br />
'''NCS: 1 Apr (Wed), 4p-5:30p'''<br />
* Anthony Fragoso (main)<br />
* Open (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 2: 6 Apr - 10 Apr ===<br />
'''NCS: 6 Apr (Mon), 2:30p-4p'''<br />
* Catharine McGhan (main)<br />
* Open (short)<br />
'''Biocircuits: 8 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Emzo de los Santos (long)<br />
* Yutaka Hori (short)<br />
| width=33% |<br />
<br />
=== Week 3: 13 Apr - 17 Apr ===<br />
* Richard out of town, Mon-Thu<br />
* Biocircuits lab cleanup, Wed @ 10 am<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 4: 20 Apr - 24 Apr ===<br />
'''NCS: 20 Apr (Mon), 2:30p-4p<br />
* Scott Livingston (main)<br />
* Open (short)<br />
'''Biocircuits: 22 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font><br />
* Anandh Saminathan (long)<br />
* Victoria Hsiao (short)<br />
| width=33% |<br />
<br />
=== Week 5: 27 Apr - 1 May ===<br />
'''Biocircuits: 29 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Anu Thubagere (long)<br />
* Dan Siegal (short)<br />
<hr><br />
* NASA Formal Methods Symposium, Mon-Wed<br />
<br />
| width=33% |<br />
<br />
=== Week 6: 4 May - 8 May ===<br />
'''NCS: 4 May (Mon), 2:30p-4p<br />
* Ivan Papusha (main)<br />
* Benson Christalin(short)<br />
'''Biocircuits: 6 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Clare Hayes (long)<br />
* Vipul Singhal (short)<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 7: 11 May - 15 May ===<br />
'''NCS: 11 May (Mon), 2:30p-4p<br />
* Ioannis Filippidis (main)<br />
* Open (short)<br />
'''Biocircuits: 13 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Shaobin Guo (long)<br />
* Yong Wu (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 8: 18 May - 22 May ===<br />
'''Biocircuits: 20 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Zach Sun (long)<br />
* Enoch Yeung (short)<br />
'''NCS: 20 May (Wed), 4-5:30p<br />
* Samira Farahani (main)<br />
* Open (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 9: 25 May - 29 May ===<br />
'''NCS: 25 May (Mon), 2:30p-4p<br />
* Yilin Mo (main)<br />
* Open (short)<br />
'''Biocircuits: 27 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Rotation student (long)<br />
* Sean Sanchez (short)<br />
<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 10: 1 Jun - 5 Jun ===<br />
'''NCS: 1 Jun (Mon), 2:30p-4p<br />
* Vasu Raman (main)<br />
* Open (short)<br />
'''Biocircuits: 4 Jun (Thu), 10a-12p'''<br />
* Rotation student (long)<br />
* Tiffany Zhou (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 11: 8 Jun - 12 Jun ===<br />
'''NCS: 8 Jun (Mon), 2:30p-4p<br />
* Benson Christalin (short)<br />
* Daniel Naftalovich (short)<br />
<hr><br />
* SEED: Wed-Sat in Boston<br />
| width=33% |<br />
<br />
|}</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Group_Schedule,_Spring_2015&diff=18345Group Schedule, Spring 20152015-03-30T00:15:22Z<p>Vasu: /* Week 10: 1 Jun - 5 Jun */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=60%<br />
|- valign=top<br />
| width=50% |<br />
* [[Schedule|Richard's calendar (travel)]]<br />
| width=50% |<br />
* [[Group Schedule, Winter 2015]]<br />
|}<br />
<br />
The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:<br />
<br />
:{| width=100%<br />
|- valign=top<br />
| width=33% |<br />
* Group meetings - 213 ANB<br />
| width=33% |<br />
* Biocircuits subgroup - 111 Keck<br />
| width=33% |<br />
* NCS subgroup - 243 ANB<br />
|}<br />
<br />
{| width=100% border=1<br />
<br />
|- valign=top<br />
| width=33% |<br />
=== Week 1: 30 Mar - 3 Apr ===<br />
<br />
'''Biocircuits: 1 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Lab safety (Clare, Richard)<br />
* Ania Baetica (short)<br />
<br />
'''NCS: 1 Apr (Wed), 4p-5:30p'''<br />
* Anthony Fragoso (main)<br />
* Open (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 2: 6 Apr - 10 Apr ===<br />
'''NCS: 6 Apr (Mon), 2:30p-4p'''<br />
* Catharine McGhan (main)<br />
* Open (short)<br />
'''Biocircuits: 8 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Emzo de los Santos (long)<br />
* Yutaka Hori (short)<br />
| width=33% |<br />
<br />
=== Week 3: 13 Apr - 17 Apr ===<br />
* Richard out of town, Mon-Thu<br />
* Biocircuits lab cleanup, Wed @ 10 am<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 4: 20 Apr - 24 Apr ===<br />
'''NCS: 20 Apr (Mon), 2:30p-4p<br />
* Scott Livingston (main)<br />
* Open (short)<br />
'''Biocircuits: 22 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font><br />
* Anandh Saminathan (long)<br />
* Victoria Hsiao (short)<br />
| width=33% |<br />
<br />
=== Week 5: 27 Apr - 1 May ===<br />
'''Biocircuits: 29 Apr (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Anu Thubagere (long)<br />
* Dan Siegal (short)<br />
<hr><br />
* NASA Formal Methods Symposium, Mon-Wed<br />
<br />
| width=33% |<br />
<br />
=== Week 6: 4 May - 8 May ===<br />
'''NCS: 4 May (Mon), 2:30p-4p<br />
* Ivan Papusha (main)<br />
* Benson Christalin(short)<br />
'''Biocircuits: 6 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Clare Hayes (long)<br />
* Vipul Singhal (short)<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 7: 11 May - 15 May ===<br />
'''NCS: 11 May (Mon), 2:30p-4p<br />
* Vasu Raman (main)<br />
* Open (short)<br />
'''Biocircuits: 13 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Shaobin Guo (long)<br />
* Yong Wu (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 8: 18 May - 22 May ===<br />
'''Biocircuits: 20 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Zach Sun (long)<br />
* Enoch Yeung (short)<br />
'''NCS: 20 May (Wed), 4-5:30p<br />
* Samira Farahani (main)<br />
* Open (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 9: 25 May - 29 May ===<br />
'''NCS: 25 May (Mon), 2:30p-4p<br />
* Yilin Mo (main)<br />
* Open (short)<br />
'''Biocircuits: 27 May (Wed), 10a-12p<font color=blue> 114 Steele</font>'''<br />
* Rotation student (long)<br />
* Sean Sanchez (short)<br />
<br />
|- valign=top<br />
| width=33% |<br />
<br />
=== Week 10: 1 Jun - 5 Jun ===<br />
'''NCS: 1 Jun (Mon), 2:30p-4p<br />
* Vasu Raman (main)<br />
* Open (short)<br />
'''Biocircuits: 4 Jun (Thu), 10a-12p'''<br />
* Rotation student (long)<br />
* Tiffany Zhou (short)<br />
<br />
| width=33% |<br />
<br />
=== Week 11: 8 Jun - 12 Jun ===<br />
'''NCS: 8 Jun (Mon), 2:30p-4p<br />
* Benson Christalin (short)<br />
* Daniel Naftalovich (short)<br />
<hr><br />
* SEED: Wed-Sat in Boston<br />
| width=33% |<br />
<br />
|}</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Mark_Muller,_20_Feb_2015&diff=18238Mark Muller, 20 Feb 20152015-02-17T20:33:29Z<p>Vasu: /* Schedule */</p>
<hr />
<div>Mark Müller, a PhD student at ETH in Zurich working with Raff D'Andrea, will visit Caltech on 19-20 Feb 2015 and give a group seminar.<br />
<br />
=== Schedule ===<br />
<br />
Thursday<br />
* 4:30p: Richard Murray, 109 Steele Lab<br />
* 5:30p: Open<br />
* 6:00p: Dinner - if anyone is interested in taking Mark to dinner, sign up here (CDS will cover)<br />
<br />
Friday<br />
* 10:00a: Open<br />
* 10:45a: Open<br />
* 11:30a: Set up for seminar and grab lunch<br />
* 12:00p: Lunchtime seminar, 107 ANB<br />
* 1:15p: Hold - Larry Matthies (meet in 107 after seminar)<br />
* 2:00p: Open<br />
* 2:45p: Open - Vasu (ANB Treehouse Lounge, 3rd floor)<br />
* 3:30p: Open<br />
* 4:15p: Open<br />
* 5:00p: Done for the day<br />
<br />
=== Seminar info ===<br />
<br />
Speaker: Mark Mueller<br><br />
Date & Time: Friday, February 20th (12pm)<br><br />
Location: 107 Annenberg<br><br />
Affiliation: ETH Zurich<br><br />
<br />
Multicopters are predicted to increasingly become part of our everyday lives, with applications including delivery services, entertainment, and aerial sensing. These systems are expected to be safe and to have a high degree of autonomy. An important aspect of autonomy is the ability to plan motions that fulfill high-level goals, which will be the topic of the first part of the talk. A quadrocopter trajectory generation scheme will be described that can evaluate and compare on the order of one million motion primitives per second. These motion primitives are designed to be fast to compute and verify (at the expense of optimality), while being flexible with respect to initial and final states. This allows to encode highly dynamic tasks with complicated end goals.<br />
<br />
The second part of the talk will cover some results on quadrocopter safety, specifically an algorithm that allows a quadrocopter to maintain flight despite the complete loss of some propellers. In particular, it is shown that such a vehicle remains controllable about hover even if only a single propeller remains operable. In addition to the failsafe aspect for quadrocopters, this allows for the design of novel vehicles, having fewer than four propellers.<br />
<br />
'''Bio'''<br />
<br />
Mark W. Mueller is currently a doctoral candidate with Prof. Raffaello D'Andrea at the Institute for Dynamic Systems and Control at the ETH Zurich. He received the B.Eng. degree in Mechanical Engineering from the University of Pretoria in 2009, and the M.Sc. degree in Mechanical Engineering from the ETH Zurich in 2011. He received awards for the best mechanical engineering thesis, and the best aeronautical thesis, for his bachelors thesis in 2008, and received the Jakob Ackeret award from the Swiss Association of Aeronautical Sciences for his masters thesis in 2011. His masters studies were supported by a scholarship from the Swiss Government.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Nikolay_Atanasov,_Feb_2015&diff=18204Nikolay Atanasov, Feb 20152015-02-09T18:42:40Z<p>Vasu: /* Schedule */</p>
<hr />
<div>Nikolay Atanasov, a student at Penn working with George Pappas and Kostas Danilidis will be visiting Caltech on 9 Feb (Mon). He will give a group meeting talk on some of his recent work. If you would like to meet with him, please sign up below:<br />
<br />
=== Schedule ===<br />
<br />
Monday:<br />
* 10:00a: Richard (109 Steele Lab)<br />
* 10:30a: Open<br />
* 11:15a: Open<br />
* 12p-1:15p: Group meeting presentation, 121 Annenberg<br />
* 1:15p: Vasu (121 Annenberg)<br />
* 2:00p: Open<br />
* 2:45p: Tony Fragoso (Annenberg 2nd floor common area)<br />
* 3:30p: Ivan Papusha (Annenberg 2nd floor common area)<br />
* 4:15p: Yorie Nakahira<br />
* 5:00p: Done for the day<br />
<br />
=== Seminar info ===<br />
<br />
Active Information Acquisition with Applications in Robotics and Computer Vision<br><br />
Nikolay Atanasov, University of Pennsylvania<br />
<br />
Monday, February 9th, 12 pm <br><br />
121 Annenberg<br />
<br />
Abstract: The remarkable advances in sensing and mobility for robotic systems allow us to address some important information gathering problems such as environmental monitoring, source seeking, simultaneous localization and mapping (SLAM), and object recognition. The goal of active information acquisition is to design control strategies for multiple sensing robots, aimed at improving the accuracy and efficiency of tracking an evolving phenomenon of interest (target). First, we present a greedy approach to information acquisition via applications in source seeking and mobile robot localization. Next, we consider nonmyopic information acquisition in the case of linear Gaussian models and develop an approximate algorithm with suboptimality guarantees. The algorithm is computationally fast, since it exploits linearized sensing models, and memory efficient, since it exploits sparsity in the target model. Decentralized control and estimation are discussed and an application to active multi-robot SLAM is presented. Finally, we consider nonmyopic information acquisition with general sensing models and present applications in active object recognition. <br />
<br />
Biography: Nikolay A. Atanasov received a B.S. degree in electrical engineering from Trinity College, Hartford, CT, in 2008 and an M.S. degree in electrical engineering from the University of Pennsylvania, Philadelphia, PA, in 2012. Currently, he is working towards the Ph.D. degree in electrical and systems engineering at the University of Pennsylvania under the supervision of Professor George J. Pappas and Professor Kostas Daniilidis. His research interests are in active information acquisition with applications to robotics and computer vision, encompassing problems such as active object recognition, active localization and mapping, environmental monitoring, security and surveillance, search and rescue, etc. The fields relevant to his research are robotics, control theory, optimization, and computer vision.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Nikolay_Atanasov,_Feb_2015&diff=18172Nikolay Atanasov, Feb 20152015-02-05T16:22:59Z<p>Vasu: /* Schedule */</p>
<hr />
<div>Nikolay Atanasov, a student at Penn working with George Pappas and Kostas Danilidis will be visiting Caltech on 9 Feb (Mon). He will give a group meeting talk on some of his recent work. If you would like to meet with him, please sign up below:<br />
<br />
=== Schedule ===<br />
<br />
Monday:<br />
* 10:00a: Richard (109 Steele Lab)<br />
* 10:30a: Open<br />
* 11:15a: Open<br />
* 12p-1:15p: Group meeting presentation, 121 Annenberg<br />
* 1:15p: Vasu (location TBD)<br />
* 2:00p: Open<br />
* 2:45p: Open<br />
* 3:30p: Open<br />
* 4:15p: Open<br />
* 5:00p: Done for the day<br />
<br />
=== Seminar info ===<br />
<br />
Active Information Acquisition with Applications in Robotics and Computer Vision<br><br />
Nikolay Atanasov, University of Pennsylvania<br />
<br />
Monday, February 9th, 12 pm <br><br />
121 Annenberg<br />
<br />
Abstract: The remarkable advances in sensing and mobility for robotic systems allow us to address some important information gathering problems such as environmental monitoring, source seeking, simultaneous localization and mapping (SLAM), and object recognition. The goal of active information acquisition is to design control strategies for multiple sensing robots, aimed at improving the accuracy and efficiency of tracking an evolving phenomenon of interest (target). First, we present a greedy approach to information acquisition via applications in source seeking and mobile robot localization. Next, we consider nonmyopic information acquisition in the case of linear Gaussian models and develop an approximate algorithm with suboptimality guarantees. The algorithm is computationally fast, since it exploits linearized sensing models, and memory efficient, since it exploits sparsity in the target model. Decentralized control and estimation are discussed and an application to active multi-robot SLAM is presented. Finally, we consider nonmyopic information acquisition with general sensing models and present applications in active object recognition. <br />
<br />
Biography: Nikolay A. Atanasov received a B.S. degree in electrical engineering from Trinity College, Hartford, CT, in 2008 and an M.S. degree in electrical engineering from the University of Pennsylvania, Philadelphia, PA, in 2012. Currently, he is working towards the Ph.D. degree in electrical and systems engineering at the University of Pennsylvania under the supervision of Professor George J. Pappas and Professor Kostas Daniilidis. His research interests are in active information acquisition with applications to robotics and computer vision, encompassing problems such as active object recognition, active localization and mapping, environmental monitoring, security and surveillance, search and rescue, etc. The fields relevant to his research are robotics, control theory, optimization, and computer vision.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=Nikolay_Atanasov,_Feb_2015&diff=18171Nikolay Atanasov, Feb 20152015-02-05T16:22:14Z<p>Vasu: /* Schedule */</p>
<hr />
<div>Nikolay Atanasov, a student at Penn working with George Pappas and Kostas Danilidis will be visiting Caltech on 9 Feb (Mon). He will give a group meeting talk on some of his recent work. If you would like to meet with him, please sign up below:<br />
<br />
=== Schedule ===<br />
<br />
Monday:<br />
* 10:00a: Richard (109 Steele Lab)<br />
* 10:30a: Open<br />
* 11:15a: Open<br />
* 12p-1:15p: Group meeting presentation, 121 Annenberg<br />
* 1:15p: Vasu<br />
* 2:00p: Open<br />
* 2:45p: Open<br />
* 3:30p: Open<br />
* 4:15p: Open<br />
* 5:00p: Done for the day<br />
<br />
=== Seminar info ===<br />
<br />
Active Information Acquisition with Applications in Robotics and Computer Vision<br><br />
Nikolay Atanasov, University of Pennsylvania<br />
<br />
Monday, February 9th, 12 pm <br><br />
121 Annenberg<br />
<br />
Abstract: The remarkable advances in sensing and mobility for robotic systems allow us to address some important information gathering problems such as environmental monitoring, source seeking, simultaneous localization and mapping (SLAM), and object recognition. The goal of active information acquisition is to design control strategies for multiple sensing robots, aimed at improving the accuracy and efficiency of tracking an evolving phenomenon of interest (target). First, we present a greedy approach to information acquisition via applications in source seeking and mobile robot localization. Next, we consider nonmyopic information acquisition in the case of linear Gaussian models and develop an approximate algorithm with suboptimality guarantees. The algorithm is computationally fast, since it exploits linearized sensing models, and memory efficient, since it exploits sparsity in the target model. Decentralized control and estimation are discussed and an application to active multi-robot SLAM is presented. Finally, we consider nonmyopic information acquisition with general sensing models and present applications in active object recognition. <br />
<br />
Biography: Nikolay A. Atanasov received a B.S. degree in electrical engineering from Trinity College, Hartford, CT, in 2008 and an M.S. degree in electrical engineering from the University of Pennsylvania, Philadelphia, PA, in 2012. Currently, he is working towards the Ph.D. degree in electrical and systems engineering at the University of Pennsylvania under the supervision of Professor George J. Pappas and Professor Kostas Daniilidis. His research interests are in active information acquisition with applications to robotics and computer vision, encompassing problems such as active object recognition, active localization and mapping, environmental monitoring, security and surveillance, search and rescue, etc. The fields relevant to his research are robotics, control theory, optimization, and computer vision.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=SURF_discussions,_Jan_2015&diff=18096SURF discussions, Jan 20152015-01-21T14:24:10Z<p>Vasu: /* 26 Jan (Mon) */</p>
<hr />
<div>Slots for talking with applicants and co-mentors about SURF projects. Please sign up for one of the slots below. All times are PST. __NOTOC__<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
|<br />
==== 21 Jan (Wed) ====<br />
* 9:20: Samira and Nuno<br />
* 9:50: Ania, Vipul, and Cody<br />
<hr><br />
* 14:30: Rafsan Chowdhury<br />
<hr><br />
* <s>15:30: Open</s><br />
|<br />
<br />
==== 22 Jan (Thu) ====<br />
* 9:00: Divyansh, Shaunak<br />
<hr><br />
* 17:30: Open<br />
* 18:00: Open<br />
|<br />
<br />
==== 23 Jan (Fri) ====<br />
* 10:00:Aileen Cheng<br />
<hr><br />
* 14:00: Enrique, Clare + Vipul<br />
* 14:30: Marcus Greiff<br />
<hr><br />
* 16:00: Open<br />
|<br />
<br />
==== 26 Jan (Mon) ====<br />
* 8:00: Cat, Riashat<br />
* 8:30: Phuc (Sam), Yong, Shaobin<br />
<hr><br />
* 17:30: Samira, Vasu, Yuening<br />
* 18:00: Open<br />
|}<br />
<br />
The agenda for the phone call is (roughly):<br />
<br />
# Description of the basic idea behind the project (based on applicant's understanding)<br />
# Discussion about approaches, things to read, variations to consider, etc<br />
# Discussion of the format of the proposal<br />
# Questions and discussion about the process</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=SURF_discussions,_Jan_2015&diff=18083SURF discussions, Jan 20152015-01-20T15:35:01Z<p>Vasu: /* 26 Jan (Mon) */</p>
<hr />
<div>Slots for talking with applicants and co-mentors about SURF projects. Please sign up for one of the slots below. All times are PST. __NOTOC__<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
|<br />
==== 21 Jan (Wed) ====<br />
* 9:20: Open<br />
* 9:50: Open<br />
<hr><br />
* 14:30: Rafsan Chowdhury<br />
<hr><br />
* 15:30: Open<br />
|<br />
<br />
==== 22 Jan (Thu) ====<br />
* 9:00: Open<br />
<hr><br />
* 17:30: Open<br />
* 18:00: Open<br />
|<br />
<br />
==== 23 Jan (Fri) ====<br />
* 10:00:Aileen Cheng<br />
<hr><br />
* 14:00: Open<br />
* 14:30: Open<br />
<hr><br />
* 16:00: Open<br />
|<br />
<br />
==== 26 Jan (Mon) ====<br />
* 8:00: Open<br />
* 8:30: Open<br />
<hr><br />
* 17:30: Samira, Vasu, Yuening (tentative)<br />
* 18:00: Open<br />
|}<br />
<br />
The agenda for the phone call is (roughly):<br />
<br />
# Description of the basic idea behind the project (based on applicant's understanding)<br />
# Discussion about approaches, things to read, variations to consider, etc<br />
# Discussion of the format of the proposal<br />
# Questions and discussion about the process</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=SURF_2015:_Platform-based_design_for_robotics_applications&diff=17896SURF 2015: Platform-based design for robotics applications2014-12-29T03:40:31Z<p>Vasu: </p>
<hr />
<div>'''[[SURF 2015|2015 SURF]] project description'''<br />
* Mentor: Richard M. Murray<br />
* Co-mentors: Vasu Raman and Samira Farahani<br />
<br />
[[File:PBD.gif|250px|thumb|Figure 1. Platform-based design (figure from http://embedded.eecs.berkeley.edu/Respep/Research/asves/)]]<br />
<br />
[[File:turtlebot.jpg|250px|thumb|Figure 2. Kobuki-based Turtlebot such as the ones used in the Caltech Vehicles Lab.]]<br />
<br />
<br />
This project will explore platform-based design for robotics applications using the Temporal Logic Planning Toolbox (TuLiP), a collection of Python-based programs for automatic synthesis of correct-by-construction embedded control software [1]. <br />
<br />
In platform-based approaches [2], design progresses in a structured fashion over precisely defined abstraction levels, which separate functionality (the “what”) from implementation (the “how”). A platform is an abstraction layer that hides the details of several possible implementation refinements of the underlying layers. It consists of a library of elements with various functionalities, and rules that define legal composition of these elements. Platform-based design therefore allows specifications to be refined at each abstraction level based on models of different potential implementations. <br />
<br />
Consider the example of a robot operating in a search-and-rescue setting. Specifications on this robot’s behavior apply at different levels of operation, e.g. decision-making about where to go and when, safety during motion planning, robot-specific specifications on battery level and charging frequency, etc. This SURF project will model this scenario and others like it using platform-based design, separating the desired requirements into different levels of abstraction, determining the best tools for synthesizing control at each level and the rules for interfacing them. The control synthesis will use existing tools in TuLiP, as well as explore options currently external to TuLiP that may be more germane to specific levels of abstraction (see, e.g. [3,4]). If feasible, the project will include an experimental component with ground robots in the Vehicles Lab.<br />
<br />
'''Required Skills:''' This project requires programming experience in Python or another object-oriented language. Experience in experimental robotics and the Robot Operating System (ROS) is preferred, and willingness to learn these things is necessary. Some familiarity with or interest in automata theory, formal languages, and model checking will be advantageous. <br />
<br />
<br />
=== References ===<br />
[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R. M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).<br />
<br />
[2] A. Sangiovanni-Vincentelli, G. Martin, Platform-based design and software design methodology for embedded systems, Design & Test of Computers, IEEE , vol.18, no.6, pp.23,33, Nov/Dec 2001<br />
<br />
[3] E. M. Wolff, U. Topcu, R. M. Murray, Optimization-based trajectory generation with linear temporal logic specifications. ICRA 2014: 5319-5325<br />
<br />
[4] V. Raman, A. Donzé, M. Maasoumy, R. M. Murray, A. Sangiovanni-Vincentelli, S. A. Seshia, Model Predictive Control with Signal Temporal Logic Specifications, CDC 2014.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=SURF_2015:_Platform-based_design_for_robotics_applications&diff=17894SURF 2015: Platform-based design for robotics applications2014-12-28T23:57:12Z<p>Vasu: </p>
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<div>'''[[SURF 2015|2015 SURF]] project description'''<br />
* Mentor: Richard M. Murray<br />
* Co-mentors: Vasu Raman and Samira Farahani<br />
<br />
[[File:PBD.gif|250px|thumb|Figure 1. Platform-based design (figure from http://embedded.eecs.berkeley.edu/Respep/Research/asves/)]]<br />
<br />
[[File:turtlebot.jpg|250px|thumb|Figure 2. Kobuki-based Turtlebot such as the ones used in the Caltech Vehicles Lab.]]<br />
<br />
<br />
This project will develop support for platform-based design for robotics applications using the Temporal Logic Planning Toolbox (TuLiP), a collection of Python-based programs for automatic synthesis of correct-by-construction embedded control software [1]. <br />
<br />
In platform-based design [2], design progresses in a structured fashion, over precisely defined abstraction levels, which separate functionality (the “what”) from implementation (the “how”). A platform is an abstraction layer that hides the details of several possible implementation refinements of the underlying layers. It consists of a library of elements with various functionalities, and rules that define legal composition of these elements. <br />
Platform-based design therefore allows specifications to be refined at each abstraction level based on models of different potential implementations. <br />
<br />
Consider the example of a robot operating in a search-and-rescue setting. Specifications on this robot’s behavior apply at different levels of operation, e.g. decision-making about where to go and when, safety during motion planning, robot-specific specification on battery level and charging frequency, etc. This SURF project will model this scenario and others like it using platform-based design, separating the desired requirements into different levels of abstraction, determining the best tools for synthesizing control at each level and the rules for interfacing them. The control synthesis will use existing tools in TuLiP, as well as explore options currently external to TuLiP that may be more germane to specific levels of abstraction (see, e.g. [3,4]). If feasible, the project will include an experimental component with ground robots in the Vehicles Lab.<br />
<br />
'''Required Skills:''' This project requires programming experience in Python or another object-oriented language. Experience in experimental robotics and the Robot Operating System (ROS) is preferred, and willingness to learn these things is necessary. Some familiarity with or willingness to learn about automata theory, formal languages, and model checking is also desired. <br />
<br />
<br />
=== References ===<br />
[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R. M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).<br />
<br />
[2] A. Sangiovanni-Vincentelli, G. Martin, Platform-based design and software design methodology for embedded systems, Design & Test of Computers, IEEE , vol.18, no.6, pp.23,33, Nov/Dec 2001<br />
<br />
[3] E. M. Wolff, U. Topcu, R. M. Murray, Optimization-based trajectory generation with linear temporal logic specifications. ICRA 2014: 5319-5325<br />
<br />
[4] V. Raman, A. Donzé, M. Maasoumy, R. M. Murray, A. Sangiovanni-Vincentelli, S. A. Seshia, Model Predictive Control with Signal Temporal Logic Specifications, CDC 2014.</div>Vasuhttps://murray.cds.caltech.edu/index.php?title=SURF_2015:_Platform-based_design_for_robotics_applications&diff=17893SURF 2015: Platform-based design for robotics applications2014-12-28T23:56:24Z<p>Vasu: Created page with "'''2015 SURF project description''' * Mentor: Richard M. Murray * Co-mentors: Vasu Raman and Samira Farahani [[File:PBD.gif|250px|thumb|Figure 1. Platform-based..."</p>
<hr />
<div>'''[[SURF 2015|2015 SURF]] project description'''<br />
* Mentor: Richard M. Murray<br />
* Co-mentors: Vasu Raman and Samira Farahani<br />
<br />
[[File:PBD.gif|250px|thumb|Figure 1. Platform-based design (figure from http://embedded.eecs.berkeley.edu/Respep/Research/asves/)]]<br />
<br />
[[File:turtlebot.jpg|250px|thumb|Figure 2. Kobuki-based Turtlebot such as the ones used in the Caltech Vehicles Lab.]]<br />
<br />
<br />
This project will develop support for platform-based design for robotics applications using the Temporal Logic Planning Toolbox (TuLiP), a collection of Python-based programs for automatic synthesis of correct-by-construction embedded control software [1]. <br />
<br />
In platform-based design [2], design progresses in a structured fashion, over precisely defined abstraction levels, which separate functionality (the “what”) from implementation (the “how”). A platform is an abstraction layer that hides the details of several possible implementation refinements of the underlying layers. It consists of a library of elements with various functionalities, and rules that define legal composition of these elements. <br />
Platform-based design therefore allows specifications to be refined at each abstraction level based on models of different potential implementations. <br />
<br />
Consider the example of a robot operating in a search-and-rescue setting. Specifications on this robot’s behavior apply at different levels of operation, e.g. decision-making about where to go and when, safety during motion planning, robot-specific specification on battery level and charging frequency, etc. This SURF project will model this scenario and others like it using platform-based design, separating the desired requirements into different levels of abstraction, determining the best tools for synthesizing control at each level and the rules for interfacing them. The control synthesis will use existing tools in TuLiP, as well as explore options currently external to TuLiP that may be more germane to specific levels of abstraction (see, e.g. [3,4]). If feasible, The project will include an experimental component with ground robots in the Vehicles Lab.<br />
<br />
'''Required Skills:''' This project requires programming experience in Python or another object-oriented language. Experience in experimental robotics and the Robot Operating System (ROS) is preferred, and willingness to learn these things is necessary. Some familiarity with or willingness to learn about automata theory, formal languages, and model checking is also desired. <br />
<br />
<br />
=== References ===<br />
[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R. M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).<br />
<br />
[2] A. Sangiovanni-Vincentelli, G. Martin, Platform-based design and software design methodology for embedded systems, Design & Test of Computers, IEEE , vol.18, no.6, pp.23,33, Nov/Dec 2001<br />
<br />
[3] E. M. Wolff, U. Topcu, R. M. Murray, Optimization-based trajectory generation with linear temporal logic specifications. ICRA 2014: 5319-5325<br />
<br />
[4] V. Raman, A. Donzé, M. Maasoumy, R. M. Murray, A. Sangiovanni-Vincentelli, S. A. Seshia, Model Predictive Control with Signal Temporal Logic Specifications, CDC 2014.</div>Vasu