Computer Science 154
Robotics, Spring 2010
Lecture notes and schedule



Lecture Slides and Calendar

New slides (and appropriate dates) will be added to this page as they're created.





(As place holders and a rough guide to the schedule, these 2009 slides will be linked below until they're replaced.)


(Tuesday, January 20, 2009)    Introduction to Robotics and CS 154
(Thursday, January 22, 2009)    Project Ideas and Robot Architectures
(Tuesday, January 27, 2009)    Potential fields; Innerspace: motors and encoders
(Thursday, January 29, 2009)    Kinematics ~ the geometry of motion
(Tuesday, February 3, 2009)    Kinematics and holonomicity
(Thursday, February 5, 2009)    Sensors: looking outward
(Tuesday, February 10, 2009)    Computer vision: introduction
(Thursday, February 12, 2009)    Computer vision: shape statistics and Set
(Tuesday, February 17, 2009)    Computer vision: control via visual servoing
(Thursday, February 19, 2009)    Probabilistic spatial reasoning: Evidence grids
(Tuesday, February 24, 2009)    Vision-based evidence grids and MCL
(Thursday, February 26, 2009)    MCL
(Tuesday, March 3 and Thursday March 5, 2009)    SIGCSE
(Tuesday, March 10, 2009)    Information and entropy
(Thursday, March 12, 2009)    Entropy and coastal navigation
(Tuesday, March 17 and Thursday March 19, 2009)    Spring Break
(Tuesday, March 24, 2009)    Guest lecture by Dylan Shell of USC and now Texas A&M
(Thursday, March 26, 2009)    Simultaneous localization and mapping, part 1
(Tuesday, March 31, 2009)    Simultaneous localization and mapping, part 2
(Thursday, April 2, 2009)    Tapia Robot Contest
(Tuesday, April 7, 2009)    Configuration space
(Thursday, April 9, 2009)    The bug algorithms
(Tuesday, April 14, 2009)    Roadmap and spatial-decomposition motion planning
(Thursday, April 16, 2009)    RRTs: Rapidly-expanding random trees
(Tuesday, April 21, 2009)    Pursuer/evader problems
(Tuesday, April 28, 2009)    AD*: constrained, dynamic motion planning