Robotics 2023

Robotics 2023 is 2 credit points lecture and 2 credits points project.

Forum:  https://piazza.com/shanghaitech.edu.cn/spring2023/cs283/home 

Teaching Assistant:

Ziwen Zhuang 庄子文

Classes: Tuesday and Thursday 15:00 - 17:00; room: SIST 1D-106

Date Lecture Reading Misc
Tue, Feb 7 Introduction AMR: Chapter 1; MRMMM: Chapter 1 Homework 1 (updated Feb 6)
Due Thursday, Feb 16, 23:59
Thu, Feb 9 Kinematics MRMMM: Chapter 2.1 
optional: AMR: Chapter 2
pose conventions
Tue, Feb 14 Sensors MRMMM: Chapter 2.2 & 2.3  
Thu, Feb 16 Sensors & Perception AMR: Chapter 4.2
Tue, Feb 21 Robot Arms MRMMM: 2.4 & 2.5 Denavit–Hartenberg Parameters 
Thu, Feb 23 Mapping MRMMM: 9.1 & AMR: 5.1 - 5.3 Homework 2 (small update Feb 23)
Due Thursday, March 9, 23:59
Tue, Feb 28 Mapping II AMR 5.4 & 5.5 Project Proposal
Due Friday, March 10, 22:00
Thu, March 2  Localization AMR: 5.6 & 5.7
MRMMM: Chapter 9.3
Paper Presentation
Due Wed, March 15, 22:00
Tue, March 7 SLAM I AMR: 5.8  
Thu, March 9 Project Meetings   Homework 3
Due Monday, March 27, 22:00
Tue, March 14 Project Meetings    
Thu, March 16 SLAM II AMR: 5.6 - 5.8    
Tue, March 21 Presentations    
Thu, March 23 Presentations Admin    
Tue, March 28 Planning AMR: 6.1-6.3   
Thu, March 30 Mechatronics MRMMM 7.1   
Tue, April 04 Project Meetings    
Thu, April 06 Vision I AMR: 4.2-4.3;   
Tue, April 11 Project Meetings    
Thu, April 13 Project Meetings    
Tue, April 18 Midterm    
Thu, April 20 Project Meetings    
Tue, April 25 Vision II AMR: 4.4, 4.5; MRMMM: 8.1  
Thu, April 27 DL & Ethics    

Literature:

•Mobile Robotics Mathematics, Models, and Methods (MRMMM)
•Alonzo Kelly
•ISBN 978-1-107-03115-9
•Introduction to  Autonomous Mobile Robots (AMR)
•Roland Siegwart, Illah R. Nourbakhsh, Davide Scaramuzza
•ISBN: 978-0-262-01535-6