| Overview | Schedule | Assignments | Syllabus |
| Date | Topics | Lecture Notes |
Assignments |
| Thur. 01/30 | Course overview, defining characteristics of a robot [Recording] |
Course Policy
01. Introduction of Robotics |
Prereq Assignment Assigned |
| Tues. 02/04 | History and challenges in robotics, overview of robot sensing systems [Recording] | 02. Overview of Robotic Hardware Systems | |
| Thur. 02/06 | *Snow day, lecture cancelled* | 03. Robotic Software Systems |
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| Tues. 02/11 | Software systems for AI robots [Recording] | Project 1 Assigned | |
| Thur. 02/13 | Overview of ROS programming in Python [Recording] | ||
| Tues. 02/18 | ROS programming in Python (cont.), overview of robot actuation systems, learning from demonstration [Recording] | 04. Robot Learning from Demonstration (LfD) | |
| Thur. 02/20 | *No lecture, Monday class schedule will be followed* | ||
| Tues. 02/25 | Overview of decision making and planning [Recording] | 05. Robot Reinforcement Learning | Project 2 Assigned |
| Thur. 02/27 | Markov decision process, Q-learning, Project 2 discussion (starting at 1:00:07) [Recording] | ||
| Tues. 03/04 | Q-learning (cont.), SARSA, challenges of RL for robotics [Recording] | ||
| Thur. 03/06 | Project 2 discussion, biological inspiration for robot learning from demonstration [Recording] | Project 2 Deliverable 2 Discussion | |
| Tues. 03/11 | Algorithmic implementation of robot learning from demonstration [Recording] | ||
| Thur. 03/13 | Robotics seminar (no lecture, meet at 4:00 PM in CS150/151) | ||
| Tues. 03/18 | *Spring recess, no lecture* | ||
| Thur. 03/20 | *Spring recess, no lecture* | ||
| Tues. 03/25 | Overview of robot localization, and Bayesian state estimation [Recording] |
06. Particle Filter
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| Thur. 03/27 | Markov localization, and motion model [Recording] |
Project 3 Assigned
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| Tues. 04/01 | Sensor model [Recording] | ||
| Thur. 04/03 | Particle filter for robot localization [Recording] | ||
| Tues. 04/08 | Kalman Filter (KF) [Recording] | 07. Kalman Filter | |
| Thur. 04/10 | Extended Kalman Filter (EKF) [Recording] | ||
| Tues. 04/15 | Simultaneous localization and mapping (SLAM) overview, EKF-SLAM [Recording] | 08. SLAM | |
| Thur. 04/17 | Velocity-based motion model, estimation in EKF for SLAM, discussion of final project [Recording] | Final Group Project Assigned | |
| Tues. 04/22 | Correction in EKF for SLAM, pose-graph SLAM [Recording] | ||
| Thur. 04/24 | Invited talk on multi-robot systems by Prof. Peng Gao from the CS Department at North Carolina State University | ||
| Tues. 04/29 | In-class lab session to set up physical robots (to support progress toward the final project's progress report deadline due on 04/30) | ||
| Thur. 05/01 | Feedback sessions for Project 2 (Wall Following) and Project 3 (Robot Localization), led by TA Li Chen and formal TA Williard Joshua Jose, along with robotics lab tours | ||
| Tues. 05/06 | Final project presentations | ||
| Thur. 05/08 | Final project presentations, course summary | 09. Course Summary |