Fall 2024 - CSC477/CSC2630: Introduction to Mobile Robotics
This page contains an outline of the topics, content, and assignments for the semester. Note that this schedule will be updated as the semester progresses, with all changes documented here.
| Week | Date | Topic | Prepare | Slides | Notebooks | Assignments | Project |
|---|---|---|---|---|---|---|---|
| 1 | Sep 14 | Introduction | π | π₯οΈ | |||
| Sensors and Actuators | π | ||||||
| 2 | Sep 21 | Kinematics | π | π₯οΈ | |||
| Dynamics | π | ||||||
| 3 | Sep 28 | PID Control | π | π₯οΈ | |||
| Artificial Potential Fields and Obstacle Avoidance | π | π | |||||
| 4 | Oct 5 | Planning | π | π₯οΈ | π | ||
| Oct 12 | Reading Week | ||||||
| 5 | Oct 19 | Linear Quadratic Regulator (LQR) | π₯οΈ | ||||
| 6 | Oct 26 | Map Representations and Map Alignment | π₯οΈ | π | |||
| Occupancy Grid Mapping With Known Robot Poses | |||||||
| 7 | Nov 2 | Maximum Likelihood, Least Squares Estimation, Maximum A Posteriori Estimation | π | π₯οΈ | π | ||
| GraphSLAM | π | π | |||||
| 8 | Nov 9 | Kalman Filter | π₯οΈ | ||||
| Bayesβ Filter and Kalman Filter | |||||||
| 9 | Nov 16 | Extended Kalman Filter (EKF) | π | π₯οΈ | π | ||
| 10 | Nov 23 | Particle Filter | π | π₯οΈ | π | ||
| Imitation with a human in the loop | π | π | |||||
| Teleoperation | π | π | |||||
| 11 | Nov 30 | Camera Optics and Multi-view Geometry | π | π₯οΈ | π | ||
| Causal confusion in imitation learning | π | π | |||||
| 12 | Dec 7 | Visual odometry and Visual SLAM | π | π₯οΈ | π | ||
| Generalization and safety guarantees for imitation | π | π | |||||
| 13 | Dec 8 | Study break, beginning of exams |