Difference between revisions of "ME CS 133 2018-19"

Revision as of 14:55, 4 February 2019

This is a homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2018-19. We will also use the Caltech Moodle" system for submitting homeworks, lab assignments, and final project reports.

Course Staff, Hours, Location

Lecture Schedule: Monday, Wednesday, Friday, 3:00-3:55 pm, 135 Gates-Thomas

Announcements For ME/CS 133(a,b)

• 01/18/19: Lab 1b is due on MONDAY. The T.A.s should have emailed to your group the data from your lab scripts.
• Lab 1b, additional code:
  • Run this file before sending any commands to check your trajectory. Open rviz in another terminal and add the marker from the published topic. The marker will follow the /bebop/cmd_vel commands.
  • In case you are missing your files from Lab 1, they are missing some values or they are corrupted, you can do the analysis on the files in this zip directory. It includes the output file bebop.csv, python script that generated the file, the matlab script to read the output file lab_csv_analysis.m. Run this file to get a comparison between the commanded path, the path bebop though it was doing and the true path from Optitrack

• 12/07/2018: Please mail a copy of your lab 2 report to Andrew Singletary ( drewsingletary1@gmail.com )
• 11/30/2018: The Final Project Instructions were distributed in class.

Course Text and References

The main course text for ME/CS 133(a) is:

• R.M. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation, CR Press, 1994.
• The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as MLS (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A main text for the ME/CS 133(b) is: Planning Algorithms by Steve LaValle (UIUC).

• You can buy this book on-line at Amazon. A preprint of the text is available freely on-line, and is adequate for all course activities.

The following two books are recommended (but not required) for ME/CS 133(b):

• Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.
• Probabilistic Robotics, S. Thrun, W. Burgard, D. Fox, MIT Press, 2006.

This first text is available at Amazon in both new and used versions. The probabilistic robotics text has an associated website, and is similarly available on Amazon.

Grading

For ME/CS 133(b), the final grade will be based on a few homework sets, laboratories, and a final project:

• Homework (20%): Homework sets 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 ME/CS 133(a), 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. ME/CS 133(b) will require a bit more knowledge of coding in C++ or python.

• Laboratory (40%): Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

• Final project (40%): 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 or labs 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 homework solution, and therefore should be done individually (you can share ideas, but not code).

Laboratory assignments will be performed in small teams. Collaboration on laboratory assignments is different. Each team need only submit one laboratory report.

Course Lecture Schedule for ME/CS 133(b)

Course Lecture Schedule for ME/CS 133(a)