View source for ME CS 132 2017

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.  
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}


'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am   - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm.    - 384 Firestone

'''Note:'''  As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/15/17:''' Bookings for hardware to use in the final project can be made [https://teamup.com/ks6zum7yvnwp2tfvxz here], with descriptions on how to bring up the [http://developer.parrot.com/docs/slamdunk/#overview Parrot SLAM Dunk] and [[Media:ME132b_TurtleBot_Bringup.pdf | TurtleBot]]
* '''05/12/17:''' The class lecture is '''CANCELLED''' today. Class will resume on Monday as scheduled
* '''05/10/17:''' The [[Media:FinalProjectGuidelines2017.pdf | Final Project Guidelines]] are available.
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''.  We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available.  Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''01/04/17:''' The permanent lecture hours and location will be determined at the course organizational meeting.

== Course Text and References ==

1) The main text for the first half of the course is:
* ''Planning Algorithms'' by Steve LaValle (UIUC). 

You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books  on-line at Amazon].  A [http://msl.cs.uiuc.edu/planning/  preprint of the text ] is available freely on-line, and is adequate for all course activities.  

2) The following book is recommended (but not required):
* ''Principles of Robot Motion: Theory, Algorithms, and Implementations,'' by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun. 

This text is [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books  available at Amazon ]
in both new and used versions.

3) Interested students may wish to also consult the following classic (but now out-of-print) text on motion planning:  ''Robot Motion Planning'' by J.C. Latombe. A copy is available in the Caltech library.

== Course Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
|  align=center rowspan=4 | 1 
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics <br> 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
| 
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] <br> [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
| 

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
| 
| 

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
| 
| 
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
| 

|-
| 14 Apr. (F)
| Review of Kalman Filters 
| Choset et. al, Chapter 8
| 

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
| 
| 
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
| 
| 

|-
| 21 Apr. (F)
| Kalman Filters (continued) 
| 
| 

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
| 
| 
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
| 
| 

|-
| 28 Apr. (F)
| Intro to SLAM (Simultaneous Localization and Mapping) 
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== SLAM (continued) =====

|-
| 1 May (M)
| Intro to EKF SLAM
| 
| [[Media:SLAM_Solution.pdf | Paper on EKF SLAM]]
| rowspan=3 align=center | -N/A-

|-
| 3 May (W)
| EKF SLAM (continued) <br> Scan Matching
| [[Media:SLAMnotes.pdf | Notes on Feature-Based EKF SLAM]] 
| 

|-
| 5 May (F)
| SCAN matching and SLAM 
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
| [[Media:SCKF.pdf | Stochastic Cloning for Relative State Measurements]] <br> [http://wiki.ros.org/laser_scan_matcher ROS Scan Matching Package]; <br> [https://www.mathworks.com/help/robotics/ref/matchscans.html Matlab ScanMatch Function]; <br> [http://wiki.ros.org/laser_scan_matcher ROS ScanMatching Package]
 
|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM  =====

|-
| 8 May (M)
| Visual Odometry (continued) <br> Final Project Discussion
| [[Media:VisualOdometryNotes.pdf | Notes on Visual Odometry]]
| 
| rowspan=3 align=center | -N/A-

|-
| 10 May (W)
| Scan Matching, RGB-D cameras <br> Final Project Discussion
|  
| [[Media:KinectIntro.pdf | Intro to the Kinect 1]] <br> [[Media:Kinect_StructureVsTOF.pdf | Structured Vs. Time of Flight Kinect]]

|-
| 12 May (F)
| RGB-D cameras continued
| 
| 

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM  =====

|-
| 15 May (M)
| Stereo Vision 
| [[Media:StereoVisionSummary.pdf | Slides on Stereo Vision]]
| 
| rowspan=3 align=center | -N/A-

|-
| 17 May (W)
| Discussion on Probabilistic Planning
|  
|

|-
| 19 May (F)
| No Class
| 
| 

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
|  align=center rowspan=3 | 1 
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics <br> The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
| 
| 

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) <br> Review of Planar Rigid Body Kinematics 
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97)   <br> [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]]; 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 <br> Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], <br> [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles 
| Lavalle Chapter 4.3 <br> [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/  Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles <br> Review of Classical Motion Planning Algorithms <br> The Road Map 
| Lavalle 4.3 (pages 155-167)  <br> Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) <br> Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] <br> [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued <br> Cellular Decomposition Methods 
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods <br> Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) <br> Lavalle, Section 2.1 and 2.2 <br> [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] <br> [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] <br> [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search <br> Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] <br> [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] <br> Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] <br> Lavalle 667-673
| 
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] <br> [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm <br> Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] <br> [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] <br> Lavalle Section 12.3.2 
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching) 
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== Course Mechanics, Grading, and Collaboration Policy ==

=== Grading ===

The final grade will be based on homework sets, and a final exam or final project: 

* ''' Homework (70%):''' Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting).  Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas.  Some homeworks will require computation.  MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.

* '''Final exam/project (30%):''' Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project.  The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor.  The final exam will due at 5:00 pm the last day of finals. The final project is similarly due at 5:00 pm on the last day of finals.

* '''Late Homework Policy:'''  Students may automatically take a 2-day extension on '''two''' homeworks during each quarter.

=== Collaboration Policy === 

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect
your own understanding of the subject matter.  Computer code and graphical plots are considered part of your solution, and therefore should be done individually (you can share ideas, but not code).  No collaboration is allowed on the examinations.