16-362: Mobile Robot Algorithms Laboratory

Fall 2024

Instructors: Wennie Tabib
Tuesday and Thursday, 0930-1050 EST, NSH 3002

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This schedule is preliminary and subject to change as the term evolves.

Week Date Lecture Notes Instructor
1 Aug. 27
Introduction (slides)
Wennie Tabib
Aug. 29
Mathematical Preliminaries (video, slides)
Wennie Tabib
2 Sept. 3
Quadrotor Modeling (video, slides)
Assignment 1 Released Wennie Tabib
Sept. 5
Quadrotor Modeling (cont'd)
Wennie Tabib
3 Sept. 10
Quadrotor Control I (video, slides)
Wennie Tabib
Sept. 12
Quadrotor Control II (notes)
Wennie Tabib
4 Sept. 17
Quadrotor Control III (notes)
Wennie Tabib
Sept. 19
Trajectory-based Control (video, slides)
Assignment 1 Due Wennie Tabib
5 Sept. 24
Introduction to Mapping & Localization (video, slides)
Assignment 2 Released Wennie Tabib
Sept. 26
Bayes Filter (video, slides)
Wennie Tabib
6 Oct. 1
Occupancy Grid Maps (slides, notes)
Wennie Tabib
Oct. 3
Agricultural Robots from Perception to Action (slides) Francisco Yandun
7 Oct. 8
Localization using Bayes Filtering (slides)
Wennie Tabib
Oct. 10
Particle Filter, EKF-SLAM (slides)
Select groups for projects Wennie Tabib
8 Oct. 15
No Class Fall Break
Oct. 17
No Class Fall Break
9 Oct. 22
3D Mapping (slides)
Wennie Tabib
Oct. 24
Planning Introduction (slides)
Assignment 2 Due, Assignment 3 Released Wennie Tabib
10 Oct. 29
Quadrotor Planning (slides, video)
Oct. 31
Planning Representations
Wennie Tabib
11 Nov. 5
No Class Democracy Day
Nov. 7
Project Proposals (info)
Slides Due Student Presentations
12 Nov. 12
Project Proposals (info)
Wennie Tabib
Nov. 14
Planning in Known Workspaces slides
Wennie Tabib
13 Nov. 18
No Class
Last day to submit Assignment 3
Nov. 19
Introduction to Robotic Exploration slides
Wennie Tabib
Nov. 21
Information-Theoretic Robotic Exploration slides
Wennie Tabib
14 Nov. 26
Frontier-based Exploration slides
TBA
Nov. 28
No Class Thanksgiving Break
15 Dec. 3
Project Demos I
Student Presentations
Dec. 5
Last Day of Class & Project Demos II
Student Presentations
16 Dec. 11
No Class Project instructions, code, slides due
17 Dec. 18
Final Grades Due