CS 4495/7495Robotics & Perception @ GTL

Instructor: Frank DellaertTA: Alistair Jones

Overview

Introductory robotics course typicallyoffered in the College of Computing

Course web site:www.cc.gatech.edu/~dellaert/07F-Robotics

Course Objectives

Desired learning outcomes: know the basics of mobile robotics and

perception internalize probabilistic reasoning to

estimate the state of the robot and its world gain familiarity with popular control

algorithms, localization algorithms, andmapping techniques

Prerequisites

None, except college-level math: we willcover all beyond that in class.

TextbooksNo Required Text

Optional:

Probabilistic Robotics.Sebastian Thrun, WolframBurgard and Dieter Fox.

Introduction to AutonomousMobile Robots, by RolandSiegwart and Illah Nourbakhsh

Workload

This course is going to be a lot of fun.It’s also going to be some amount of work.If you have questions or concerns, don’t

hesitate to send me email or come by myoffice.

Office hours:Tuesday & Wednesday 2-3pm, Room 206

Grade Distribution

Class Attendance & Participation: 5%Exercises: 15%Assignments: 40%Project: 20%Midterm & Final Exam: 10% each

More than ½ of the grade:Assignments & Project

4 programming assignments (2 weeks)1 project (3-4 weeks)

implement research paper

13 Small Exercises

Collaboration Policywhite board interactionyou write your own codeGeorgia Tech Honor Code

Schedule

01 Locomotion and Kinematics

02 Hierarchical Architectures

03 Behavior-Based Control

04 Reinforcement Learning

05 Cameras & Stereo

06 Omnidirectional Cameras

07 Segmentation andObject recognition

08 Topological Markov Localization

09 Grid-Based Markov Localization

10 Metric Path Planning

11 Monte Carlo Localization

12 Stochastic Mapping andKalman Filters

motionmotion

sensor

13 FastSLAM