ME/CS 132b, Spring 2013: Difference between revisions
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Revision as of 22:04, 1 April 2013
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Advanced Robotics: Navigation and Vision |
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Instructors
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Teaching Assistants (me132-tas@caltech.edu)
Course Mailing List: me132-students@caltech.edu (sign up) |
Announcements
- First lecture on 4/2 at 2:30 pm in Room 306 Thomas.
Course Information
Prerequisites
There are no formal prerequisites for the course, other than ME/CS 132(a). Some of the required background material will be reviewed during the first weeks of lecture. The theory part of ME/CS 132(b) is largely independent of the material in ME/CS 132(a), but students are expected to be able to use the experimental lab equipment introduced in the first quarter of the course, and are expected to be able to apply the sensor processing and mapping techniques learned in the first quarter. The greater emphasis on a final project in this quarter will require a good comfort level with computer programming in at least one of the following languages: C, Python, or MATLAB.
Grading
ME/CS 132(b) is primarily a project-based course. The grade will be based on 2 homeworks (20% of total grade) and two week-long labs (10% of total grade each). Sixty percent (60%) of the grade will be based on a final project which is due on the last day of the finals period. The final project can potentially be done in teams, with the instructor's approval.
- Homework: Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Yifei Huang (yifei.huang at caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
- Labs: Students will form groups of 2-3 people and perform lab experiments together. The lab will consist of implementing and testing basic algorithms on a mobile robot, and demonstrating the result, as well as submitting a copy of the code underlying the lab demonstration. The one-week labs this quarter are intended to help get the students prepared for the final project.
Collaboration Policy
Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.
Course Texts
There is only one required textbook, which is fortunately freely available on the web:
- Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
- The book website is here; If you plan to continue work in the field of robotics, then you should consider buying the text (the last time I checked, it was reasonably priced). Information is available on the book website.
The Thrun, Burgard, and Fox book used last quarter will continue to be a useful optional reference. If you have bought the book, then hold on to it for this quarter. If you haven't yet got the book, it is not necessary to purchase it, as there is very little specific information needed.
Lecture Schedule/handouts/homeworks/lab
| Week | Date | Topic | Reading | Homework |
| 1 | 2 Apr (Tu) | Course Overview, Intro. to Classical Planning | Lavalle Chapter 1 | -N/A- |
| 4 Apr (Th) | No Class on this date | Lavalle Chapter 1 | -N/A - | |
| 2 | 9 Apr (Tu) | Configuration Space Obstacles (c-obstacles) | ||
| 11 Apr (Th) | C-Obstacles (cont.) and overview of c-space planning |
Homework
Please pay attention to the implementation guidelines when writing code for homework.
- Homework 1 - Due: Tue Jan 22 at 11:59pm (Solutions )
- Ch. 1.2 of Forsyth (2nd Edition) - equations for problem 3
- Homework 2 - Due: Tue Jan 29 at 11:59pm (Solutions )
- Homework 3 - Due: Thurs Feb 7 at 11:59pm (Solutions )
- Lab 1: Due: Fri Feb 15 at 11:59pm - email to me132-tas@caltech.edu
- Homework 4 - Due: Thurs Feb 21 at 11:59pm (Solutions )
- Homework 5 - Due: Tue Mar 5 at 11:59pm - turn in set to Ilya (ilyanep@caltech.edu)
- Lab 2: Due: Fri Mar 15 at 11:59pm - email to me132-tas@caltech.edu
