CS393R: Autonomous Robots -- Resources

CS393R: Autonomous Robots -- Resources


  • Tekkotsu Website
  • Tekkotsu Documentation
  • Tekkotsu Tutorial
  • Color segmentation
  • Quick guide on getting started and compiling a memory stick: Getting started

  • Week 0 (8/27): Class Overview

  • Slides from 8/27: (ppt).

  • Week 1 (9/1, 9/3): Introduction to motion control

  • Slides from 9/1 on control: (pdf, ppt).
  • Slides from 9/3 on Todd's intro to the lab: (pdf).
  • A page with some control applets to play with.

  • Week 2 (9/8, 9/10): Motion control continued

  • Slides on the joint modeling paper from 9/8: (pdf).
  • I showed some slides (pdf) from lecture 2 of the 2008 class at CMU.
  • A Braitenberg simulator.
  • A paper that was based on a class project in the 2005 class that extended the joint modeling paper:
    A Neural Network-Based Approach to Robot Motion Control.
    Uli Grasemann, Daniel Stronger, and Peter Stone.
    In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup-2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence, pp. 480

  • Week 3 (9/15,9/17): Probability/Sensing

  • Slides from chapter 2 of the book: (ppt).
  • Slides on sensors: (pdf). The ones from CMU: (pdf).
  • A Bayes' Theorem calculator and example.
  • Another.
  • Andrew Moore's tutorial on probability density functions, including variance/covariance.

  • Week 4 (9/27,9/29): Kalman Filters

  • Slides from 9/22 on Kalman filters: (ppt).
  • More details from Welch and Bishop
  • A RoboCup application of Kalman filters (see Section 2.3).
  • A paper about the unscented Kalman Filter(UKF) and how it improves upon the EKF for estimation of non-linear systems.
  • A description of the use of a Kalman Filter for ball tracking in RoboCup: Han and Veloso, 1997.
  • Newcastle RoboCup Team Report describing the Kalman Filter for localization and ball tracking. (See section 4). Quinlan et al, 2005.
  • CWMtx C++ Matrix library. Thanks to Suyog for finding this.

  • Week 5 (9/29,10/1): Localization

    Additional readings:

    Week 6 (10/6,10/8): Walking

  • Slides on the learned walk: (pdf)
  • Slides on the stable version: (pdf)
  • A reference on Nelder-Mead (aka Amoeba). Another one.
  • A reference on Powell's method
  • Big dog in action. A paper about it.
  • A 2-legged follow-up to big dog
  • ASIMO videos (check out the running one). Here's one where it walks up and down stairs. Here's some additional information on the walk.
  • QRIO running.
  • RoboCup 2009 humanoid league videos.
  • Russ Tedrake's videos.
  • A paper on also optimizing for stability.
  • A paper on optimizing ball capturing.
  • Chris Atkeson's course on Legged Locomotion
  • Jan Peters' course on locomotion
  • The development of Honda humanoid robot
    Hirai, K. and Hirose, M. and Haikawa, Y. and Takenaka, T.
    ICRA 1998.
  • On the Stability of Anthropomorphic Systems
    Vukobratovic, M. and Stepanenko, J.
    Mathematical Biosciences.
  • Legged robots that balance.
    Raibert, M. H.
  • Virtual Model Control of a Bipedal Walking Robot
    Pratt, J., Dilworth, P. and Pratt, G.
    ICRA 1997.
  • Hybrid Zero Dynamics of Planar Biped Walkers
    Westervelt, E.R., Grizzle, J.W. and Koditschek, D.E.
    IEEE Trans. on Automatic Control, Vol.48, No.1, pp.42-56, 2003.
  • Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots
    Luis Sentis, Jaeheung Park, and Oussama Khatib.
    IROS 2009.

  • Week 7 (10/13,10/15): Action and sensor models

  • Slides on ASAMI: (pdf)
  • I showed some slides (pdf) from lecture 2 of the 2008 class at CMU.
  • Additional readings:

    Week 8 (10/20,10/22): Vision

    Week 9 (10/27, 10/29): Behavior Architectures

  • The planning slides (postscript).
  • A journal article with more details on the initial subsumption implementation:
    Brooks, R. A. "A Robust Layered Control System for a Mobile Robot", IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 1423; also MIT AI Memo 864, September 1985. The detail slides from that article.
  • A radio interview with Rodney Brooks.
  • A journal article extending subsumption to multi-robot systems:
    Designing and Understanding Adaptive Group Behavior. (citeseer link)
    Maja J Mataric.
    Adaptive Behavior 4:1, Dec 1995, 51-80.
  • Intelligence without Robots (A Reply to Brooks) by Oren Etzioni. AI Magazine, 14(4), December 1993.
  • Pengo
  • Structured Control for Autonomous Robots.
    Reid Simmons.
    IEEE Transactions on Robotics and Automation, 10:1, pp. 34-43, February 1994.
  • A paper on an architecture for action selection using value functions that was applied in simulated soccer. The accompanying slides.

  • Week 10 (11/3,11/5): Behavior

  • I showed some slides from the intro lecture of Howie Choset's motion planning course on Tuesday. See also his slides on A*, D* lite, and sampling based methods.
  • Urban challenge path planning paper:
    Practical Search Techniques in Path Planning for Autonomous Driving
  • A* visualization
  • RRT page
  • An extension of RRT
    Real-Time Randomized Path Planning for Robot Navigation
    James Bruce, Manuela Veloso
  • A page on Voronoi planning
  • Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
    Choset and Burdick
  • Voronoi page with applet
  • Three papers on the potential field approach: Borenstein, 1991; Konolige, 2000;
    Numerical Potential Field Techniques for Robot Path Planning: Barraquand, Langlois, Latombe
  • Craig Reynolds' boids (especially click on "steering")
  • Andrew Ng's A* search notes
  • Andrew Ng's path planning notes
  • The rest of Andrew Ng's course handouts
  • Slides from Johns Hopkins on bug algorithms
  • Sven Koenig's site on LPA* and D* lite

  • Week 11 (11/10, 11/12): Multi-Robot Coordination

  • Slides from presented by Luis Sentis on Thursday.
  • Distributed Intelligence: Overview of the Field and its Application in Multi-Robot Systems.
    Lynne E. Parker.
    Journal of Physical Agents, March 2008.
  • Follow-up and other interesting papers from Gal Kaminka's lab
  • Kiva systems demo
  • An interesting research project on a robot garden from Colorado.
  • A course on multi-robot systems from Colorado, complete with detailed slides.
  • Trail-Laying Robots for Robust Terrain Coverage.
    J. Svennebring and S. Koenig.
    In Proceedings of the International Conference on Robotics and Automation (ICRA), 2003.
  • Sven Koenig's Ant Robotics page, including a video from the paper.
  • The Generation of Bidding Rules for Auction-Based Robot Coordination.
    C. Tovey, M. Lagoudakis, S. Jain and S. Koenig.
    In Multi-Robot Systems: From Swarms to Intelligent Automata, L. Parker, F. Schneider and A. Schultz (editor), 3-14. Springer, 2005.
  • Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork.
    Stone and Veloso.
    AIJ, 1999.
    See sections 1-4, 6.1 and 7.1.
  • Slides on PTS domains, locker-room agreements (ps)
  • Slides on MAS in pursuit domains (ps)
  • A self-balancing table from Radhika Nagpal's lab.
  • self-configuring robots from USC.

  • Week 12 (11/17, 11/19): Applications

  • JoFR 2008 Special Issue on the 2007 DARPA Urban Challenge, Part I
  • JoFR 2008 Special Issue on the 2007 DARPA Urban Challenge, Part II
  • JoFR 2008 Special Issue on the 2007 DARPA Urban Challenge, Part III
  • Festo flying/swimming robots
  • A very fast robot hand
  • Applications papers and related resources from last time this course was taught:
  • Autonomous helicopter control, Ng et al., 2004.
  • PEGASUS: A policy search method for large MDPs and POMDPs, Andrew Y. Ng and Michael Jordan. In Uncertainty in Artificial Intelligence, Proceedings of the Sixteenth Conference, 2000.
  • Andrew Ng's robot videos.
  • Robot air hockey, Bentivegna and Atkeson, 2002.
  • Bentivegna's page with videos.
  • Robot surveillance, Ahmadi and Stone, 2005.
  • Slides on continual area sweeping (pdf)
  • Videos of continual area sweeping.

  • Week 13 (11/24): Social Implications

  • Some writings on the singularity: a resesarch institute, and Ray Kurzweil's page.
  • Jordan Pollack's GOLEM project: evolving physical robots.
  • Daniel Wilson's Robot Uprising book.
  • The Lifeboat Foundation is dedicated to assessing and protecting against threats to humanity.

  • Week 14 (12/1, 12/3): Project Demos

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