CptS 580: Introduction to Robotics    
Fall 2017

Matthew E. Taylor (Matt)
EME 137
Schedule a time to meet with Matt: meetme.so/taylorm  
Syllabus: Fall 2017
Piazza link (discussions):
Blackboard link (homework / lab submissions):
TA Hours in Dana 3:
Wednesdays, 2-4pm (James)
Thursdays, 1:15-3:15pm (Gabe)
Required Co-Requisite: CptS 350 or permission of the instructor     
Suggested Pre-Requisite: Familiarity with Linux
Suggested Hardware: Laptop with Ubunbu 14.04
Optional Textbooks:
  • Introduction to Autonomous Mobile Robots,
    Second Edition, 2011.
    Siegwart, Nourbakhsh, and Scaramuzza.
    ISBN-10: 0262015358
  • Programming Robots with ROS: A Practical Introduction
    to the Robot Operating System, 2015.
    Quigley, Gerkey, and Smart.
    ISBN-10: 978-1-4493-2389-9


Assignment Due
8/22 First day of class  
8/24 Control Architectures (online lecture, no in-class meeting) 1) Read pages 3-7 (Introduction) in the Quigley+ book
2) By 11:59pm on 8/25, answer the "Introductions" questions on Piazza
3) There will be a brief quiz on the Control Architectures lecture in class on 8/29.
8/29 Perception  
8/31 Sensors (Appologies - not sure what happened to the audio) Lab 1 due by 6pm on 9/1
9/5 Range Finders,
get started on Lab 2 in class
9/7 Walk & Roll Lab 2 due by 6pm on 9/8
9/12 Kinematics 1, Problem 1 Answer  
9/14 Manipulators Please read the 10 pages of "Kinematics reading" on learn.wsu.edu.
By Wedensday at 11:59pm, post at least one comment/question to piazza related to kinematics and/or the reading.
9/19 Search and simple planning  
9/21 Discretizing a map Kinematics homework due by 6pm, Friday the 22nd.
9/26 Localization  
9/28 Localization and Movement Lab 3 due by 6pm, Friday the 29th.
10/3 No class: Career Fair  
10/5 Probabilistic Localization  
10/10 Review for midterm and start lab 4  
10/12 Midterm  
10/17 SLAM, Part 1  
10/19 No class - finish up lab 4 and watch on-line lecture for next Tuesday Lab 4 due by 6pm, Friday 10/20.
10/24 Kalman Filter review Homework #2:
Watch (Extended) Kalman Filter (Slides are here).
Watch EKF SLAM (Slides are here).
On Piazza, write 1) At least 2 paragraphs describing what these lectures are about and 2) Questions you had during the lectures. Please post this info by 11:59pm, Monday the 23rd.
10/26 SLAM: Lab 5  
10/31 Discussion on the future of robotics Submit project proposal on blackboard by Monday, 11:59pm:
Group members
Goal of the project
Success conditions
11/2 Learning and Optimization Submit Lab 5 by 6pm, Friday 11/3.
11/7 HRI and Learning from Humans  
11/9 Guest Lecture: Robots for Agriculture  
11/14 Reinforcement Learning  
11/16 Guest Lecture: Deep Learning  
11/21 Thanksgiving  
11/23 Thanksgiving  
11/28 Work on final project  
11/30 Work on final project  
12/5 Guest lecture, Dr. Kshitij Jerath  
12/7 Guest lecture, Dr. John Swensen  
12/13 Wednesday, 8am: Robotics Final Project Presentations