Textbook: Thrun, Burgard & Fox, Probabilistic Robotics, MIT Press, 2005.
| Date | Topic | Read before lecture | Slides from lecture (.pdf) |
|---|---|---|---|
| 1/18/07 | Introduction | L1 Course Intro | |
| 1/23/07 | The Hybrid Spatial Semantic Hierarchy |
papers on the HSSH | L2 Hybrid SSH |
| 1/25/07 | Controls | Kuipers, Control Tutorial | L3 Robot Control |
| 1/30/07 | Project topic selection | Syllabus Addendum | |
| 2/1/07 | pendulum example occupancy grid maps |
Kuipers & Ramamoorthy, HSCC, 2002 Textbook chapter 9 |
L3a QHC Pendulum Control L4 Occupancy Grids |
| 2/6/07 2/8/07 |
Markov localization particle filters |
Textbook chapters 2, 5, and 6 Textbook chapters 4 and 8 |
L5 Markov localization |
| 2/13/07 | Kalman filters |
Peter Maybeck intro to Kalman Filters Welch & Bishop intro to Kalman Filters Textbook chapter 3 |
L7 Kalman filters |
| 2/15/07 | FastSLAM | Smith, Self & Cheeseman, 1990 Textbook chapters 7 and 13 |
L8 Landmark mapping |
| 2/20/07 | discussion | ||
| 2/22/07 | Brian Stankiewicz guest lecture |
||
| 2/27/07 | Murderball | ||
| 3/1/07 | Tom Lauzon | slides | |
| 3/6/07 | Chris Flesher | ||
| 3/8/07 | Shilpa Gulati | slides | |
| 3/20/07 | Todd Hester | ||
| 3/22/07 | Padmadevan Chettiar | ||
| 3/27/07 | Guest lecture: TBA | ||
| 3/29/07 | Kyle Cullen | ||
| 4/3/07 | Brenda Gregory, Lisa Calaci Texas School for the Blind |
||
| 4/5/07 | Greg Freeman | ||
| 4/10/07 | Mikhail Iakhiaev | ||
| 4/12/07 | Tekin Mericli | ||
| 4/17/07 | Jeremy Stober | ||
| 4/19/07 | Alan Lockett | ||
| 4/24/07 | Rick Bolkey | ||
| 4/26/07 | Brad Knox | ||
| 5/1/07 | Charles Chen | ||
| 5/3/07 |