View source

[[Category:Robot Lab (Spring 2009)]]
[[Category:Classes]]

==Announcements==
* Class will meet weekly, starting April 1, 2009.

==Course Logistics==

Prerequisites: Permission of instructor.<br>
Class Time: W 18:00->21:50<br>
Class Location: TBD <br>
Office Hours: By appointment only<br>
Course Instructor: [[William C. Regli]], Ph.D.<br>
Teaching Assistants: Chris Cannon <ctc82@drexel.edu>, Marc Winners <marc@drexel.edu><br>
Instructor Contact: Email regli (at) drexel (DOT) edu (not that this will help keep the spammers away)<br>
Phone 215.895.6827; Office: UC 143

==Course Objectives and Outcomes==

Design, analysis and implementation of multi-robot systems in simulation 
Robotic systems will be “virtual” and interact in a synthetic environment.  Students will have weekly programming assignments with the Player / Stage / Gazebo environment.

At the end of the course, students will
#understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc; 
#design experiments for robotic platforms; 
#gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
#implement robot control algorithms, both open loop and closed loop
#Design robot modeling & simulation experiments
#Develop path planning techniques and Simultaneous Location & Mapping (SLAM) algorithms
#Work with Robot Teaming and Planning, including flocks, swarms, leader-follower, predator-prey, etc
#Have an introduction to human-Robot Teaming

==Lectures==

{| border="1" cellpadding="2"
!width="75"|Date
!width="150"|Assignment
!width="150"|Topic
!width="150"|Summary Notes
!width="500"|Links and References
|-
|April 1
|
|
Intro to Robot Lab
|
[[Media:2009-Introduction_to_Robotics.ppt]]
|
Player/Stage/Gazebo  [http://gicl.cs.drexel.edu/wiki/Robot_Lab(Spring_2009)/Player-Stage-Gazebo Wiki Tutorial],
[[Media:Psg-tutorial.ppt]],[[Media:Psg-tutorial.pdf]],[[Media:Psg-config.zip]]
|-
|
|
|Introduction to Robotics
|[[Media:Introduction_to_Robotics.ppt]]
|
|-
|April 8
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment0 Assignment 0] due
|Simulation
|[[Media:Simulation_of_Robotic_Systems.ppt]]
|
|-
|April 15
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment1 Assignment 1] due
|Simulation
|[[Media:Simulation_of_Robotic_Systems.ppt]]
[[Media:2009-SLAM-a.ppt]]
[[Media:2009-Robot-Lab-Path-Planning.ppt]]
|[http://www.softhelp.ru/fileformat/xpm/xpm.htm XPM manual]
[[Media:p5-goldberg-Floating-Point.pdf]] ACM Computing Surveys article on Floating point computation.
|-
|April 22
|
|
|[[Robotics Videos]]
|
|-
|April 29
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment2 Assignment 2] due
|SLAM
|[[Media:SLAM.ppt]]
|
|-
|May 13
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment3 Assignment 3] due
|
|
<!--
|-
|May 6
|Robotics Videos Quiz
|Playtime with Roombas
|
|

-->
|-
|May 20
|
|Grading Assignment 2
|
|
|-
|May 27
|[http://gicl.cs.drexel.edu/wiki/Spring2009RobotLabAssignment4 Assignment 4] due
|Path Planning
|[[Media:Robot-Lab-Path-Planning.ppt]]
|
|-
|June 3
|
|
| 
| 
|-
|June 6
|
|
|
|
|}
<!--
|-
|June 13
|
|
|Finals Week
|
|}-->

==Texts==

Relevant texts and readings:<br>
# [http://gicl.cs.drexel.edu/wiki-data/images/a/af/Brooks-representation.pdf Intelligence without Representation], Rodney Brooks.
# Flesh and Machines: How Robots Will Change Us (Paperback) by Rodney Brooks, Publisher: Vintage (February 4, 2003); ISBN-10: 037572527X.
#  [http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf Introduction to the Kalman Filter] from UNC.
# [http://ocw.mit.edu/NR/rdonlyres/Aeronautics-and-Astronautics/16-412JSpring-2005/9D8DB59F-24EC-4B75-BA7A-F0916BAB2440/0/1aslam_blas_repo.pdf SLAM for Dummies]
# J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, 2003.
# Kiyoshi Toko. Biomimetic Sensor Technology. Cambridge University Press, 2000.
# Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
# David Cook. Robot Building for Beginners. Apress, 2002.
# [http://www.physics.ohio-state.edu/~dws/grouplinks/floating_point_math.pdf What Every Computer Scientist Should Know About Floating-Point Arithmetic]

==Grading==

The due dates are listed on the week by week breakdown of the course below.  When an assignment is due on a particular date, that means the assignment is really due that week.   


==Software==
This class will be nearly entirely executed in simulation using Play/Stage/Gazebo.  Students not comfortable with software development, hacking and programming will find this course difficult, if not impossible.  We will not be providing remedial programming or operating systems tutorials in this course.  All information needed to execute the assignments is available (or will be made available) on the web, either at the course wiki page or using services like http://lmgtfy.com/.

==Miscellaneous Resources==

Wiki page for Winter 2007 Roomba Lab:
[http://gicl.cs.drexel.edu/wiki/Category:Roomba_Design_Lab_%28Winter_2007%29]

Page from Spring 2007 Robotics Lab:
[http://gicl.cs.drexel.edu/wiki/Category:Roomba_Design_Lab_%28Winter_2007%29]

iRobot Create Forums:  [http://createforums.irobot.com/]

Robotics Primer Workbook based around the Create [http://roboticsprimer.sourceforge.net/workbook/Main_Page]