CS393R: Autonomous Robots -- Resources

CS393R: Autonomous Robots -- Resources

Naos and UT Austin Villa

  • Austin Villa
  • Aldebaran Robotics
  • Nao setup
  • Nao tutorial
  • Lab intro slides

  • Week 0 (8/25): Class Overview

  • Slides from 8/27: (ppt).

  • Week 1: Introduction to motion control

  • Slides from Tuesday on control: (pdf, ppt).
  • Slides from Thursday on Jake's intro to the lab: (pdf).
  • A page with some control applets to play with.
  • PID control on a quadrotor
  • Another tutorial on control by Thomas Dean and Michael Wellman.
  • 2 videos on PID control
  • PID control - a brief introduction
  • Simple Examples of PID control

  • Week 2: Motion control continued

  • Slides on the joint modeling paper from 9/10: (pdf).
  • I showed some slides (pdf) from lecture 2 of the 2008 class at CMU.
  • A Braitenberg simulator.
  • One that runs as a java applet
  • The whole Braitenberg book
  • 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
  • A video of the CMUnited team that used the Braitenberg love vehicle.

  • Week 3: Probability/Sensing

  • Some slides on sensors: (pdf). The ones I showed from CMU: (pdf).
  • The slides I showed on probability and Bayes' Rule (just the first 7 slides)
  • Slides from chapter 2 of the book: (ppt).
  • A Bayes' Theorem calculator and example.
  • Another.
  • Andrew Moore's tutorial on probability density functions, including variance/covariance.
  • A Udacity course that covers some of this material.

  • Week 4: Kalman Filters

  • Slides from Ben Kuipers on observers (ppt, pdf); on Kalman filters (ppt, pdf); and on landmark-based localization (ppt, pdf). !-->
  • Slides from 9/24 on Kalman filters: (ppt, pdf).
  • Slides from the book: (ppt, pdf).
  • The rest of the Maybeck book
  • More details from Welch and Bishop
  • A youtube tutorial endorsed by a student in the class.
  • Two other resources endorsed by a student: http://greg.czerniak.info/guides/kalman1/ and https://www.udacity.com/wiki/cs373/kalman_filter_matrices
  • 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 (html version).
  • 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.
  • wikipedia has a good 2D example.

  • Week 5: Localization

    Additional readings:

    Week 6: Vision

    Week 7: Walking

  • Slides on ZMP: (pdf)
  • Slides on the learned Aibo walk: (pdf)
  • Slides on the stable version: (pdf)
  • Slides on the skill optimization paper: (pdf)
  • Slides on bipedal robot control: (ppt)
  • Slides on transfer from simulation to real robots
  • Zero-Moment Point - Thirty Five Years of Its Life
    Vukobratovic, M. and Borovac, B.
    International Journal of Humanoid Robotics, Vol.1, No. 1, pp.157-173, 2004.
  • Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point
    Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K. and Hirukawa, H.
    ICRA 2003.
  • The Nao Devil's walking paper that uses ZMP and preview control
  • Rigid and Soft Body Simulation Featuring Realistic Walk Behaviour
    Oliver Urbann, Soren Kerner, and Stefan Tasse
    RoboCup 2011 Symposium
  • Machine Learning for Fast Quadrupedal Locomotion
    Nate Kohl and Peter Stone
    In The Nineteenth National Conference on Artificial Intelligence, pp. 611-616, July 2004.
  • A paper on also optimizing for stability.
  • A paper on optimizing ball capturing.
  • A reference on Nelder-Mead (aka Amoeba). Another one.
  • A reference on Powell's method
  • On Optimizing Interdependent Skills: A Case Study in Simulated 3D Humanoid Robot Soccer
    Urieli, MacAlpine, Kalyanakrishnan, Bentor, and Stone
    AAMAS 2011
  • Videos from the omni-directional walk learning paper
  • A follow-up paper on transfering what was learned in simulation back to the real robots
  • Big dog in action. A paper about it.
  • A 2-legged follow-up to big dog
  • They're latest quadruped: Wildcat
  • 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.
  • New Asimo!
  • A Nao climbing stairs
  • Kuka balancing robot
  • RoboCup 2009 humanoid league videos.
  • RoboCup 2010 humanoid league videos.
  • Russ Tedrake's videos.
  • Chris Atkeson's course on Legged Locomotion
  • The development of Honda humanoid robot
    Hirai, K. and Hirose, M. and Haikawa, Y. and Takenaka, T.
    ICRA 1998.
  • 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 8: 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 9: Path Planning

  • Slides from the intro lecture of Howie Choset's motion planning course. See also his slides on A*, D* lite, and sampling based methods.
  • Another presentation on D* lite.
  • UTSeaSim, which uses RRT for path planning. The slides.
  • Urban challenge path planning paper:
    Practical Search Techniques in Path Planning for Autonomous Driving
  • Video of a holonomic robot
  • A* visualization
  • RRT page
  • An extension of RRT that interleaves execution
    Real-Time Randomized Path Planning for Robot Navigation
    James Bruce, Manuela Veloso
  • A paper on RRT with dynamic obstacles: Multipartite RRTs for Rapid Replanning in Dynamic Environments. Zucker et al.
  • 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
  • Slides from Johns Hopkins on bug algorithms
  • Sven Koenig's site on LPA* and D* lite
  • Pieter Abbeel's paper on Environmentally Guided RRT's (a video of the talk is available from his homepage)

  • Week 10: 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
  • Experiences with an Architecture for Intelligent, Reactive Agents.
    R. Peter Bonasso, R. James Firby, Erann Gat, David Kortenkamp, David P. Miller, and Marc G. Slack.
    JETAI 9(2/3):237-256, 1997.
  • A paper on an architecture for action selection using value functions that was applied in simulated soccer. The accompanying slides.

  • Week 11: Multi-Robot Coordination

  • Robot surveillance, Ahmadi and Stone, 2005.
  • Current Research in Multi-robot Systems.
    Lynne Parker
    ALife Robotics, 2003.
  • Theoretical Analysis of the Multi-agent Patrolling Problem.
    Yann Chevaleyre.
    IAT '04.
  • A fault-tolerant modular control approach to multi-robot perimeter patrol.
    Alessandro Marino, Lynne E. Parker, Gianluca Antonelli, Fabrizio Caccavale and Stefano Chiaverini.
    ROBIO '09.
  • Flexible Teamwork in Behavior-Based Robots.
    Gal A. Kaminka and Inna Frenkel.
    In Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05) , 2005.
  • A Realistic Model of Frequency-Based Multi-Robot Fence Patrolling.
    Yehuda Elmaliach, Asaf Shiloni, and Gal A. Kaminka.
    In Proceedings of the Seventh International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-08)
    It's OK to skim sections 3.2 and 3.3. Make sure to understand what they analyze and how. It's OK not to follow the full details of the analysis (though it all should be accessible).
  • Follow-up and other interesting papers from Gal Kaminka's lab
  • Swarmanoid, winner of the 2011 AAAI video competition. And another video.
  • James McLurkin's work on multi-robot systems.
  • Kiva systems demo
  • Interview with Mick Mountz, Kiva CEO.
  • A recent TED talk by Raff D'andrea on his quadrotors research.
  • 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.
  • On Team Formation.
    Cohen, P. R., Levesque, H. R., and Smith, I.
    in Hintikka, J. and Tuomela, R. (Eds.) Contemporary Action Theory. Synthese, 1997.
  • Ad Hoc Teamwork for Leading a Flock.
    Katie Genter, Noa Agmon, and Peter Stone.
    In Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013), May 2013.

  • Week 12: Applications

  • Kurt Dresner's slides on AIM. (keynote version)
  • More recent AIM slides
  • 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 a previous version of this course
  • 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.

  • Week 13: Social Implications

  • Bill Joy's TED talk from 2006.
  • Illah Nourbakhsh's course on ethics and robotics
  • Ron Arkin's tech report on embedding ethics in robots.
  • 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.

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