| Date | Topic | Notes and Readings |
| 8/31 | Introduction, Administrivia Math Review: Probability Theory |
Introductory remarks and probability theory notes (modified from Burgard, Thrun, Fox slides kindly provided by Wolfram Burgard) |
| 9/7 | Labor Day | No Lecture |
| 9/14 | Math Review: Probability Theory A quick and dirty introduction to estimation theory |
Probability theory notes
|
| 9/21 | 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) |
| 9/28 | Player/Stage/Gazebo
Tutorial Project proposals due |
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. Project proposals due in class in hardcopy (1 per team, also email a copy of the proposal to the professor)
|
| 10/5 | Probabilistic Kinematics | The Bayes filter example we worked out in class. My Kinematic Models Notes. Also see Motion model notes from Thrun et al. (the textbook authors) |
| 10/12 | Probabilistic Kinematics | My Kinematic Models Notes. Also see Motion model notes from Thrun et al. (the textbook authors) |
| 10/19 | Sensor models | Sensor Models Notes. Also see Sensor model notes from Thrun et al. (the textbook authors) |
| 10/26 | Sensor models | Sensor Models Notes. Also see Sensor model notes from Thrun et
al. (the textbook authors)
|
| 11/2 | Quiz 2 (open notes, not open book) | Here are a couple of quizzes (q2-2003,q2-2005) given in the past to help you prepare. 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). |
| 11/9 | Sampling and Particle filtering | Particle filter notes. Also see Particle filter notes from Thrun et al. (the textbook authors) slightly modified by me. |
| 11/16 | 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 Additional reading: S.I. Roumeliotis and G.A. Bekey, Distributed Multi-Robot Localization, IEEE Transactions on Robotics and Automation |
| 11/23 | 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. |
| 11/30 | 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. |
| 12/7 | Final Project Presentations and Demos | Each team will make one presentation to the class. The presentation schedule will be available on the projects page. This class does not have a final exam. |