Difference between revisions of "ME/CS 132b, Spring 2012"

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'''Instructors'''
 
'''Instructors'''
* Larry Matthies (coordinator), lhm@jpl.nasa.gov
+
* Dr. Larry Matthies (coordinator), lhm@jpl.nasa.gov
* Roland Brockers, Adnan Ansar, Yang Cheng, Nick Hudson, Tom Howard, Yoshi Kuwata, Jeremy Ma
+
* Drs. Thomas Howard and Yoshiaki Kuwata
 
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM
 
* Lectures: Tue/Thu, 1-2:30 pm, 306 TOM
 
* Office hours: by appointment
 
* Office hours: by appointment
 
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</td><td width=5%></td><td width=45%>
'''Teaching Assistants''' (me132-tas@caltech.edu)
+
'''Teaching Assistant''' (me132-tas@caltech.edu)
* Scott Livingston, Stephanie Tsuei
+
* [http://scottman.net/ Scott Livingston] (slivingston @ the Institute)
* Office hours: TBD
+
* Office hours: Mondays 16:00-17:00, and Tuesdays 17:00-18:00, both in SFL 2-4
 
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
 
'''Course Mailing List''': me132-students@caltech.edu ([https://utils.its.caltech.edu/mailman/listinfo/me132-students sign up])
 
</td></tr>
 
</td></tr>
 
</table>
 
</table>
 
== Announcements ==
 
== Announcements ==
 +
* Solution for Homework 3 posted --[[User:Slivings|Slivings]] 03:33, 13 June 2012 (UTC)
 +
* Another example (#1) posted --[[User:Slivings|Slivings]] 21:54, 28 May 2012 (UTC)
 +
* Term project example 0 (trivially) updated.
 +
* The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.
  
 
== Course Information ==
 
== Course Information ==
Line 28: Line 32:
  
 
=== Grading ===
 
=== Grading ===
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of three late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. '''No grace period is allowed for the week-long lab or the course project'''.
+
There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Homework assignments will be due one week from the date that they are assigned. Students will be able to use up to three (3) grace period days to turn in weekly homework assignments without penalty. Late homework will also be accepted without penalty with a letter from the health center or the Dean. Late homework not covered by either Grace period days or an appropriate letter will be assessed a penalty of 25% per day. Please email the TA and indicate the number of late days you have used on the homework. '''Grace period days cannot be used for the lab report or for the term project report.'''
  
 
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
 
* '''Homework''': Homework is usually due in one week after it is assigned. You can choose to
 
** turn in a hard copy in class,
 
** turn in a hard copy in class,
** or, upload an electronic copy to the course server and send the TAs a note.  
+
** place a copy in the TA's mailbox in Annenberg building,
:If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.
+
** or email an electronic copy to the TA.
 +
:If you are unable attend the lecture, contact the TA to find an alternative way to turn in your homework.
 
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
 
* '''Course Project''': Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.
  
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'''For electronic submissions (including your code)''':
 
'''For electronic submissions (including your code)''':
 
* Package code, data, and answers in a single .zip or .tgz file.  
 
* Package code, data, and answers in a single .zip or .tgz file.  
* Upload the writeup as a single file to the course server. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.  
+
* Email the writeup as a single file to the TAs. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.  
 
* Separate code & commentary: do not write your discussion/derivation in the source files, but in a separate report file, clearly labeled as such.  
 
* Separate code & commentary: do not write your discussion/derivation in the source files, but in a separate report file, clearly labeled as such.  
 
* Include instructions/scripts that allow reproducing your experiments with relatively little effort. For example, include a script “main.m” that calls the other files.
 
* Include instructions/scripts that allow reproducing your experiments with relatively little effort. For example, include a script “main.m” that calls the other files.
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* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.
 
* Steven M. LaValle, [http://planning.cs.uiuc.edu/ ''Planning Algorithms''], Cambridge University Press, 2006.
 +
 +
=== Supplemental Material ===
 +
 +
* [http://www.cds.caltech.edu/~slivings/TA/underground/Astar_liberation_front.pdf A* explanation from (Russell and Norvig, 2003)].
  
 
== Lecture Notes ==
 
== Lecture Notes ==
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|rowspan=2 align="center" | 1
 
|rowspan=2 align="center" | 1
 
|3 Apr (Tu)
 
|3 Apr (Tu)
|Overview, Kinematic and Dynamic Models
+
|Overview, Kinematic and Dynamic Models ([http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec00.pdf part 1], [http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec01.pdf part 2])
 
|Tom Howard
 
|Tom Howard
 
|-
 
|-
 
|5 Apr (Th)
 
|5 Apr (Th)
|Motion Simulation
+
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec02_sim.pdf Motion Simulation]
 
|Yoshi Kuwata
 
|Yoshi Kuwata
 
|-
 
|-
 
|rowspan=2 align="center" | 2
 
|rowspan=2 align="center" | 2
 
|10 Apr (Tu)
 
|10 Apr (Tu)
|Search Spaces I
+
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec03.pdf Search Spaces I]
 
|Tom Howard
 
|Tom Howard
 
|-
 
|-
 
|12 Apr (Th)
 
|12 Apr (Th)
|Search Spaces II
+
|[http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/lectures/me132b_lec04.pdf Search Spaces II]
 
|Tom Howard
 
|Tom Howard
 
|-
 
|-
 
|rowspan=2 align="center" | 3
 
|rowspan=2 align="center" | 3
 
|17 Apr (Tu)
 
|17 Apr (Tu)
|Search Algorithms I
+
|[http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec05.pdf Search Algorithms I]
 
|Yoshi Kuwata
 
|Yoshi Kuwata
 
|-
 
|-
 
|19 Apr (Th)
 
|19 Apr (Th)
|Search Algorithms II
+
|[http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec06.pdf Search Algorithms II]
 
|Tom Howard
 
|Tom Howard
 
|-
 
|-
 
|rowspan=2 align="center" | 4
 
|rowspan=2 align="center" | 4
 
|24 Apr (Tu)
 
|24 Apr (Tu)
|Sensor-Based Planning I
+
|[http://www.cds.caltech.edu/~slivings/TA/lslides/me132b_lec07_other_planning_control.pdf Sensor-Based Planning I]
 
|Yoshi Kuwata
 
|Yoshi Kuwata
 
|-
 
|-
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|rowspan=2 align="center"| 9
 
|rowspan=2 align="center"| 9
 
|29 May (Tu)
 
|29 May (Tu)
|Term Project Mentor Meetings
+
|'''guest lecture:''' Mark W. Maimone
 
|
 
|
 
|-
 
|-
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|
 
|
 
|-
 
|-
|rowspan=2 align="center"| 9
+
|rowspan=2 align="center"| 10
 
|5 June (Tu)
 
|5 June (Tu)
|Term Project Final Presentations
+
|'''Deadline for project demonstrations'''.
 
|
 
|
 
|-
 
|-
 
|7 June (Th)
 
|7 June (Th)
|Term Project Final Presentations (cont.)
+
|'''Term Project Final Presentations and Written Report due'''
 
|
 
|
 
|}
 
|}
  
 
== Homework ==
 
== Homework ==
 +
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/homework1.pdf Homework 1] (Due 12 April) -- [http://www.cds.caltech.edu/~slivings/TA/underground/hw1soln.zip solution]
 +
* [http://www.cds.caltech.edu/~stsuei/me132_2012/me132b/homework/hw2.zip Homework 2] (Due 19 April) -- [http://www.cds.caltech.edu/~slivings/TA/underground/hw2soln.zip solution]
 +
* [http://www.cds.caltech.edu/~slivings/TA/psets/me132b_homework_3.pdf Homework 3] with [http://www.cds.caltech.edu/~slivings/TA/psets/hw03_material.zip materials] (Due 26 April) -- [http://www.cds.caltech.edu/~slivings/TA/underground/hw3soln.zip solution]
 +
* [http://www.cds.caltech.edu/~slivings/TA/psets/me132b_homework_4.pdf Homework 4] with [http://www.cds.caltech.edu/~slivings/TA/psets/hw04_material.zip materials] (Due 10 May)
 +
* [http://www.cds.caltech.edu/~slivings/TA/psets/me132b_lab01.pdf Navigation Lab] with [http://www.cds.caltech.edu/~slivings/TA/psets/lab01_material.zip materials] (Lab report and code due 10 May)
 +
 +
== Project ==
 +
* [http://www.cds.caltech.edu/~slivings/TA/project/me132_term_project.pdf Description]
 +
* Examples [http://www.cds.caltech.edu/~slivings/TA/project/example0.zip 0], [http://www.cds.caltech.edu/~slivings/TA/project/example1.zip 1]
 +
* [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2012_Course_Project_Test_Time Schedule lab time]

Latest revision as of 03:33, 13 June 2012

Advanced Robotics: Navigation and Vision

Instructors

  • Dr. Larry Matthies (coordinator), lhm@jpl.nasa.gov
  • Drs. Thomas Howard and Yoshiaki Kuwata
  • Lectures: Tue/Thu, 1-2:30 pm, 306 TOM
  • Office hours: by appointment

Teaching Assistant (me132-tas@caltech.edu)

  • Scott Livingston (slivingston @ the Institute)
  • Office hours: Mondays 16:00-17:00, and Tuesdays 17:00-18:00, both in SFL 2-4

Course Mailing List: me132-students@caltech.edu (sign up)

Announcements

  • Solution for Homework 3 posted --Slivings 03:33, 13 June 2012 (UTC)
  • Another example (#1) posted --Slivings 21:54, 28 May 2012 (UTC)
  • Term project example 0 (trivially) updated.
  • The lab's phone number is (626) 395-2315. Please call this number in case you need to enter the building after hours.

Course Information

Prerequisites

There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

Grading

There are no midterm/final exams for this course. The grade will be based on (1) homework assignments (40%), (2) a week-long lab (20%), and (3) a course project 40%). Homework assignments will be due one week from the date that they are assigned. Students will be able to use up to three (3) grace period days to turn in weekly homework assignments without penalty. Late homework will also be accepted without penalty with a letter from the health center or the Dean. Late homework not covered by either Grace period days or an appropriate letter will be assessed a penalty of 25% per day. Please email the TA and indicate the number of late days you have used on the homework. Grace period days cannot be used for the lab report or for the term project report.

  • Homework: Homework is usually due in one week after it is assigned. You can choose to
    • turn in a hard copy in class,
    • place a copy in the TA's mailbox in Annenberg building,
    • or email an electronic copy to the TA.
If you are unable attend the lecture, contact the TA to find an alternative way to turn in your homework.
  • Course Project: Grading for the term project will be a weighted combination of navigation task success, focus task results, and presentation. Each member in the group will receive the same grade. All group members are expected to participate equally throughout all facets of the term project.

Homework Guidelines

  • On the back of the first page of your homework, write down the number of hours you have spent, including reading. This will help us keep track of the amount of homework and adjust future assignments if necessary.
  • Justify your answers. This will help us assign partial credits to your assignment even if the results are incorrect. On the other hand, we will deduct points if only results are shown without the necessary derivations.
  • You are encouraged to use professional libraries (such as OpenCV) for reading/writing files and analogous tasks. However, you cannot use functions which the homework implies you have to write yourself.
  • You will be given code examples in a few languages (MATLAB, C++, Python), but you are free to use any language with which you are comfortable.
  • You are responsible for the parameters you choose. If we give you a “reasonable” value for a parameter that does not appear to work, you should try other values.

For electronic submissions (including your code):

  • Package code, data, and answers in a single .zip or .tgz file.
  • Email the writeup as a single file to the TAs. Do not upload multiple files for different parts of the writeup. The file must not be in proprietary formats (e.g. MS Word, Mathematica notebook). We recommend using PDF format to guarantee portability.
  • Separate code & commentary: do not write your discussion/derivation in the source files, but in a separate report file, clearly labeled as such.
  • Include instructions/scripts that allow reproducing your experiments with relatively little effort. For example, include a script “main.m” that calls the other files.

Collaboration Policy

Students are encouraged to discuss and collaborate with others on the homework. You are free to discuss general ideas about the problem. However, you should write your own solution to show your own understanding of the material. You cannot copy other people's solution as part of your solution. You cannot share code for homework or look at other people’s code. Reading aloud your code does not count as discussion. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

Course Texts

The required textbook is (also freely available online):

Supplemental Material

Lecture Notes

Week Date Topic Instructor
1 3 Apr (Tu) Overview, Kinematic and Dynamic Models (part 1, part 2) Tom Howard
5 Apr (Th) Motion Simulation Yoshi Kuwata
2 10 Apr (Tu) Search Spaces I Tom Howard
12 Apr (Th) Search Spaces II Tom Howard
3 17 Apr (Tu) Search Algorithms I Yoshi Kuwata
19 Apr (Th) Search Algorithms II Tom Howard
4 24 Apr (Tu) Sensor-Based Planning I Yoshi Kuwata
26 Apr (Th) Sensor-Based Planning II Yoshi Kuwata
5 1 May (Tu) Week-long lab
3 May (Th) Week-long lab
6 8 May (Tu) Term Project Overview and Kickoff
10 May (Th) Case Studies TBD
7 15 May (Tu) Term Project Mentor Meetings
17 May (Th) Term Project Mentor Meetings
8 22 May (Tu) Term Project Progress Presentations
24 May (Th) Term Project Progress Presentations (cont.)
9 29 May (Tu) guest lecture: Mark W. Maimone
31 May (Th) Term Project Mentor Meetings
10 5 June (Tu) Deadline for project demonstrations.
7 June (Th) Term Project Final Presentations and Written Report due

Homework

Project