Power point slides:

Fri. Sept. 16:             Lecture 01        Introduction - Text 1.1, 6.5

Mon. Sept. 19:           Lecture 02        Control Architectures, Coordinate Frames and P Control

Wed. Sept. 21:           No Lecture        AUV Lab Time

Fri. Sept. 23:              Lecture 03        Locomotion and Kinematics

- Text 3.1-3.2.2

Mon. Sept. 26:           AUV Test 1       Yaw Control Experiments (Carnegie Lake)

Wed. Sept. 28:           Lecture 04        Slides Template, Locomotion Examples

Fri. Sept. 30:              Lecture 05        Odometry - Text 5.2.3, 5.2.4

Mon. Oct. 3:              Lecture 06         Point Tracking - Text 3.6

Wed. Oct. 5:              AUV Lab

Fri. Oct. 7:                 AUV Test 3       Final Deployments (Carnegie Lake)

Mon. Oct. 10:            Lecture 07        Sensor Characteristics - Text 4.1-4.16

Wed. Oct. 12:            Lecture 08        Sensor Examples I - Text 4.2

Fri. Oct. 14:               Lecture 08        (Continued)

Mon. Oct. 17:            Lecture 09        Sensor Examples II - Text 4.1

Wed. Oct. 19:            Lecture 10        Vision Systems - Text 4.1

Fri. Oct. 21:               Lab Only

Mon. Oct. 24:            Lecture 11        Line Extraction

Wed. Oct. 26:            Exam Review

Fri. Oct. 28:               Midterm Exam, Old Practice Questions 1, New Practice Questions , Old Midterm Assignment

Mon. Oct. 31:            No Lecture       Fall Recess

Wed. Nov. 2:             No Lecture       Fall Recess

Fri. Nov. 4:                No Lecture       Fall Recess

Mon. Nov. 7:             Lecture 13        Intro. to Localization

Wed. Nov. 9:             Lecture 13        (Continued)

Fri. Nov. 11:              Lecture 14        Markov Localization - Text 5.1-5.2.3, 5.4, 5.5

Mon. Nov. 14:           Lecture 15        Particle Filter Localization - See Probabilistic Robotics

Wed. Nov. 16:           Lecture 16        Introduction to Kalman Filters

Fri. Nov. 18:              Lecture 17        Extended Kalman Filter Localization

Mon. Nov. 21:           Lecture 18       Intro to Motion Planning

Wed. Nov. 23:           Lecture 19       Motion Planning Discretizations & PRMs

Fri. Nov. 25:              No Lecture      Thanksgiving

Mon. Nov. 28:           Lecture 20       Single Query Probabilistic Road Maps

Wed. Nov. 30:           Lab Only      

Fri. Dec. 2:                Lecture 21        Artificial Potential Fields and Cell Decomposition

Mon. Dec. 5:             Lab Only

Fri. Dec. 7:                Lecture 22        Graph Searches for Motion Planning

Fri. Dec. 9:                Lab Demos

Mon. Dec. 12:           Lecture 23      Introduction to Multi-Robot Systems

Wed. Dec. 14            Lecture 24      Multi-Robot Motion Planning

Fri. Dec. 16               Lecture 25      Introduction to Competition

Mon. Jan. 9              Lecture 24      Prep for Robot Competition

Wed. Jan. 11:           Robot Competition

Fri. Jan. 13:              No Class

Mon. Jan. 16:          Final Exam Review, Practice Problems

Sat. Jan. 21:           Final Exam, 1:30pm, Friend Center 101, Old 2009 Exam, Old 2011 Exam