CS395T: Autonomous Robots -- Assignments

CS395T: Autonomous Robots -- Assignments


Things to do ASAP (before the first class if possible)

  • Make sure you have a CS account - if not, apply for one from the CS Dept. immediately (so it will be active by the time the class starts).
  • Send an email to stronger@cs and pstone@cs letting us know your CS account.
  • Join the class mailing list (see class main page).
  • Get access to the class textbook (see class main page).
  • Browse the RoboCup Legged League pages.

  • Week 0 (9/1): Class Overview

  • If you would like to get a jump on the class, consider looking at the following:
  • The UT Austin Villa 2003 Four-Legged Team (especially the extended version)
  • The UT Austin Villa 2004 RoboCup Four-Legged Team: Coming of Age
  • Any of the research projects and papers listed at http://www.cs.utexas.edu/~AustinVilla/

  • Week 1 (9/6,9/8): Open-R

    Readings: (due Tuesday, 9/6 at 12:30pm)
  • The UT Austin Villa 2003 Four-Legged Team, extended version: Sections 1-3, 15, 16.
  • The UT Austin Villa 2004 RoboCup Four-Legged Team: Coming of Age: Sections 1, 12, 13.
  • Browse the AIBO resources that can be found on vieri at:
    /home/robosoccer/ERS-7/OPEN_R_SDK_Docs/ModelInformation_7_E.pdf (Now linked here)
    /home/robosoccer/ERS-7/OPEN_R_SDK_Docs/Level2ReferenceGuide_E.pdf (Now linked here)
    /home/robosoccer/ERS-7/OPEN_R_SDK_Docs/ProgrammersGuide_E.pdf (Now linked here)
  • Programming: (due Thursday, 9/8 at 12:30pm)

  • Programming assignment 1 is designed to get you familiar with the robots.


  • Week 2 (9/13,9/15): Movement

    Readings:
  • A Model-Based Approach to Robot Joint Control
    Daniel Stronger and Peter Stone.
    In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: Robot Soccer World Cup VIII, pp. 297
  • Learning and Using Models of Kicking Motions for Legged Robots
    Sonia Chernova and Manuela Veloso
    In Proceedings of International Conference on Robotics and Automation (ICRA'04), May 2004.
  • Programming: (due Thursday, 9/22 at 12:30pm)
  • Programming assignment 2 is designed to teach you about the robots' movement capabilities.
  • Exercises: (due at 10pm on Monday, 9/12)
  • Send a comment/question about the readings.
  • Send your response as ASCII text (not encoded in any way) to Peter Stone & Dan Stronger with subject: "Week 2 exercises".
  • As indicated on the course overview page, your response should be well-thought-out, coherent, and concise. Short, to-the-point answers are preferred. For full credit, your email should be sent by 10pm on Monday, 9/12.

  • Week 3 (9/20,9/22): Movement

    Readings:
    Programming: (due Thursday, 9/22 at 12:30pm)
  • Programming assignment 2 - see Week 2.
  • Exercises: (Due at 10pm on Monday, 9/19)

    Week 4 (9/27,9/29): Vision

    Readings:
    Programming: (Due Thursday 10/6 at 12:30pm)
  • Programming assignment 3 has been designed to give you a feel for the robot's low-level vision problems. Here, you shall be able to experiment with the color segmentation phase of the robot's visual processing.

  • Exercises: (Due at 10pm on Monday, 9/26)

    Week 5 (10/4,10/6): Vision

    Readings:
    Programming: (Due Thursday 10/6 at 12:30pm)
  • Programming assignment 3 - see Week 4.
  • Exercises: (Due at 10pm on Monday, 10/3)

    Week 6 (10/11,10/13): Localization

    Readings:
    Programming: (Due Thursday 10/13 at 11:59pm)
  • Programming assignment 4 has been designed to give you a feel for the robot's localization problems challenge.
  • Exercises: (Due at 10pm on Monday, 10/10)

    Week 7 (10/18,10/20): Behavior

    Readings :
    Programming: (Due Tuesday 10/25 at 12:30pm)
  • Programming assignment 5 has been designed to give you a taste of the challenge of creating behaviors for the robots.
  • Exercises: (Due at 10pm on Monday, 10/17)

    Week 8 (10/25,10/27): Behavior

    Readings :
    Programming: (Due Tuesday 10/25 at 12:30pm)
  • Programming assignment 5 has been designed to give you a taste of the challenge of creating behaviors for the robots.
  • Project Proposal: (Due at 10pm on Thursday, 10/27)

    Week 9 (11/1,11/3): Behavior Architectures

    Readings :
  • Intelligence without Representation.
    Rodney A. Brooks.
    Artificial Intelligence 47 (1991), 139-159.
    PDF version.
  • 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.
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 10/31)

    Week 10 (11/8,11/10): Control

    Readings :
  • Ben Kuipers' Control Tutorial.
  • Braitenberg, 1984.
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 11/7)

    Week 11 (11/15,11/17): Kalman Filters

    Readings :
  • On Observers, Maybeck, 1979.
  • On Kalman Filters, Welch and Bishop, 1995.
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 11/14)

    Week 12 (11/22): Applications

    Readings :
  • Autonomous helicopter control, Ng et al., 2004.
  • Robot air hockey, Bentivegna and Atkeson, 2002.
  • Robot surveillance, Ahmadi and Stone, 2005.
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 11/21)

    Week 13 (11/29, 12/1): Multi-Robot Systems

    Readings :
  • Trail-Laying Robots for Robust Terrain Coverage.
    J. Svennebring and S. Koenig.
    In Proceedings of the International Conference on Robotics and Automation (ICRA), 2003.
  • C. Tovey, M. Lagoudakis, S. Jain and S. Koenig. The Generation of Bidding Rules for Auction-Based Robot Coordination. In Multi-Robot Systems: From Swarms to Intelligent Automata, L. Parker, F. Schneider and A. Schultz (editor), 3-14. Springer, 2005.
  • Section 1-4 of Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork, Stone and Veloso, 1999. Also suggested: Sections 6.1 and 7.1.
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 11/28)

    Week 14 (12/6, 12/8): Ethics/Project Demos

    Readings :
  • Why the Future Doesn't Need Us by Bill Joy - Wired, 2000. (pdf version)
  • Programming: (Due Thursday 12/8 at 12:30pm)
  • Final Project.
  • Exercises: (Due at 10pm on Monday, 12/5)

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