I400/I590/B659: Intelligent Robotics
Office: Info East 257
Office hours: Tu
Office: Info West 001
Office hours: MW 11:30-12:30
Two semesters of programming, calculus. Python and Linux
experience strongly recommended.
Lynch, Hutchinson, Kantor, Burgard, Kavraki, and Thrun. Principles
of Robot Motion: Theories, Algorithms, and Implementations. MIT Press, Boston, 2005.
Classes meet on Monday and Wednesday, 09:30-10:45AM in
Ballantine Hall, 242.
Students must read the assigned readings before class, and must be
prepared to discuss the material during class. Labs will be assigned roughly on a weekly
basis and must be turned in on Oncourse by the
beginning of class on the due date.
Students enrolled in the I590, H400, and B659 sections of the course are
required to complete the lab questions marked with a star (*). Students
enrolled in I400 are not required to answer these questions.
Students will work on a semester-long project on a topic chosen along with
the instructor’s guidance. Students
will work in small groups (typically 3-5) with at least one graduate student
on each group. Teams will give 1) a midterm presentation, 2) a final
presentation, and 3) a final report.
The hardware platform for the project will be the Sphero
robot although in some cases a simulated robot may be used instead. Topics for Sphero
may include, but are not limited to:
Navigating around complex obstacles
Multi-robot formation control
Multi-robot coordinated navigation
Optimal point-point motion
High speed trajectory tracking
Following a human-controlled robot
Topics in simulation may include, but are not limited to:
Pick and place manipulation planning
Bipedal balance control
Each team member will also turn in a peer review form for each other
member of the group in order to assign credit to individuals who made
significant contributions to the project. Groups are recommended to divide
the work among teammates by high-level task, such as communications, sensing,
feedback control, planning, UI development, and system integration.
The final grade will be comprised of homework (40%)
participation (10%), mid-term project presentation (10%), final project
presentation (20%), and final project report (20%) grades. The participation grade will be comprised
of attendance and in-class discussion.