| Date | Topic | Notes and Readings |
| 8/25 | Introduction, Administrivia Math Review: Probability Theory |
Introductory remarks and probability theory notes (modified from Burgard, Thrun, Fox slides kindly provided by Wolfram Burgard) |
| 9/1 | Labor Day | No Lecture |
| 9/8 | Math Review: Probability Theory A quick and dirty introduction to estimation theory |
Probability theory notes Quiz 1 is in two parts. The first part is take home which you should download on 9/1 by clicking here. Its due via email to the TA on 9/8 by 12 noon. The second part is in class on 9/8. Your overall quiz 1 score (and rank in class) will be available by noon on 9/10 to enable you to make a final decision on whether to stay in the course |
| 9/15 | The Bayes filter, Kalman filtering as Bayes filtering |
My Bayes/Kalman filter notes. Also see Bayes and Kalman filter notes from Thrun et al. (the textbook authors) |
| 9/22 | Player/Stage/Gazebo Tutorial | The Player/Stage tutorial will be given by Dave Feil-Seifer. Here are Boyoon Jung's notes and Nate Koenig's notes on this topic from 2004. |
| 9/29 | Probabilistic Kinematics | My Kinematic Models Notes. Also see Motion model notes from Thrun et al. (the textbook authors) |
| 10/6 | Probabilistic Kinematics | My Kinematic Models Notes. Also see Motion model notes from Thrun et al. (the textbook authors) |
| 10/13 | Sensor models Project proposals due |
Sensor Models Notes Email one project proposal per team to the TA |
| 10/20 | Sensor models | Sensor Models Notes
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| 10/27 | Quiz 2 (open notes, not open book) | After the quiz, please come prepared to talk to the instructor about the status of your project (I'll meet with each team during class hours). |
| 11/3 | Sampling and Particle filtering | Particle filter notes |
| 11/10 | Monte-Carlo and Kalman Filter Localization Cooperative Multi-Robot Localization |
Markov lecture notes, Monte-Carlo lecture notes and KF lecture Notes Required reading: D. Fox, W. Burgard, and S. Thrun Markov localization for mobile robots in dynamic environments . Journal of Artificial Intelligence Research, 11:391-427, 1999. Required reading: F. Dellaert, D. Fox, W. Burgard, and S. Thrun, Monte-Carlo Localization for Mobile Robots, ICRA 1999. Required reading: J. J. Leonard and H. F. Durrant-Whyte, Mobile robot localization by tracking geometric beacons, IEEE Trans. Robotics and Automation, 7(3):376-382, June 1991. Required reading: A. Howard, M. J. Mataric and G. S. Sukhatme, Team Localization: A Maximum Likelihood Approach, Submitted to IEEE Transactions on Robotics and Autonomous Systems, May 2002 Additional reading: F. Lu and E. Milios, Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans, Journal of Intelligent and Robotic Systems. vol. 18, pp. 249-275, 1997 Additional reading: S. Thrun, D. Fox, W. Burgard, and F. Dellaert Robust monte carlo localization for mobile robots . Artificial Intelligence, 101:99-141, 2000. Additional reading: J. Spletzer and C.J. Taylor, A Bounded Uncertainty Approach to Multi-robot Localization, IROS 2003 (to appear) Additional reading: S.I. Roumeliotis and G.A. Bekey, Distributed Multi-Robot Localization, IEEE Transactions on Robotics and Automation, to appear. |
| 11/17 | Metric and Topological Mapping | Lecture Notes (metric) Required reading: A. Elfes, Sonar-based Real-World Mapping and Navigation, IEEE Transactions on Robotics and Automation, 1986 Required reading: Lu, F., & Milios, E., Globally consistent range scan alignment for environment mapping, Autonomous Robots, 4, 333-349 Required reading: Dedeoglu G. and Sukhatme G.S. (2000) Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots, Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems, Knoxville, Tennesssee, October 4-6, pp 251-260 Required reading: H. Choset and K. Nagatani Topological simultaneous localization and mapping (SLAM): Toward Exact Localization without Explicit Localization IEEE Transactions on Robotics and Automation, Volume 17(2), April 2001 Optional reading: S. Thrun Robotic Mapping: A Survey, 2002 Optional reading: J. Leonard, H. Durant-Whyte, and I. Cox Dynamic Map Building for Autonomous Mobile Robot, International Journal of Robotics Research, Volume 11, Number 4, pp. 286-298 Optional reading: R. Smith, M. Self, and P. Cheeseman. Estimating uncertain spatial relationships in robotics. In I.J. Cox and G.T. Wilfong, editors, Autonomous Robot Vehicles, pages 167--193. SpringerVerlag, 1990. |
| 11/24 | Quiz 3 (open notes, not open book) Project Discussion - last week issues, logistics of demos etc. CML and SLAM |
Lecture Notes Required reading: S. Thrun, D. Fox, and W. Burgard. A probabilistic approach to concurrent mapping and localization for mobile robots. Machine Learning, 31:29-53, 1998. also appeared in Autonomous Robots 5, 253-271. Required reading: Dissanayake, M. W. M. G., Newman, P., Durrant-Whyte, H. F., Clark, S. and Csorba, M., A solution to the simultaneous localization and map building (SLAM) problem, IEEE Transactions on Robotic and Automation 17(3), 229--241. Optional reading: J. Leonard and H. Durrant-Whyte, Simultaneous Map-building and Localization for a Mobile Robot, IROS 1991, pp. 1442-1447 Optional reading: M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem, AAAI, 2002 Optional reading: See also pointers to a comprehensive set of papers at the SLAM summer school 2002. |
| 12/1 | Final Project Presentations and Demos | Each team will make one presentation to the class. The presentation schedule will be available on the projects page. |