CSCE574 Robotics - Spring 2014

University of South Carolina

Instructor: Jason O'Kane

Recent and Future

2014-05-06 Grades for everything should be posted now. Because our dropbox software doesn't like grades larger than 100, the final exam is separated into two parts: one for the multiple choice questions and one for the rest of the exam. Add these two scores to get your complete final exam score, out of 150.

Letter grades are also in SSC now. I believe they'll become visible to you around noon tomorrow, or perhaps sooner. The grade cutoffs ended up being quite close to what's in the syllabus. As always, please let me know if there are any surprises. I want to ensure that everyone gets the credit they deserve.

Thanks for a great semester. We covered quite a lot of territory on both the theoretical and hands-on sides of robotics. Have a safe and relaxing (or productive (or both)) summer.

Documents, Files, and Links

  1. Appointment System
  2. Syllabus
  3. A Gentle Introduction to ROS
  4. Notes on rviz
  5. Notes on laser scans
  6. Short comments on coding style
  7. Project submission instructions
  8. Graduate Student Papers
  9. Turtlebot Signout Form
  10. Notes on Turtlebot robots
  11. Notes on Images in ROS
    [ Updated on April 18, based on questions from class on April 17. ]

Full Course Details

2014-01-14 Lecture 01 Review of syllabus. Introduction.
2014-01-16 Homework 01 Upload a head-and-shoulders photo of yourself to the dropbox for this course. Choose a picture that is sufficiently close up that I can recognize your face.
2014-01-16 Lecture 02 Overview of ROS. (AGITR, chapter 1)
2014-01-17 Last day to add a course
Last day to drop a course without W
2014-01-21 Lecture 03 Overview of ROS. (AGITR, chapter 2) Bug algorithms. (Choset+, chapter 2)
2014-01-23 Homework 02 Submit on paper at the start of class. [hw02.pdf]
2014-01-23 Lecture 04 Bug algorithms.
2014-01-28 Lecture 05 Cancelled.
2014-01-30 Homework 03 Submit on paper at the start of class. [hw03.pdf]
2014-01-30 Homework 04 Read the first three chapters AGITR. Experiment with ROS enough to get the simulated turtle to wander randomly, using the code from the book. Let the turtle wander randomly for a few minutes and submit (on paper) a screenshot of the resulting drawing.
2014-01-30 Lecture 06 Potential fields. (Choset+, chapter 4)
2014-02-03 Project 1 Assigned 2014-01-16. Hard copies of the two example solutions discussed in class are available in the folder attached to my office door. [project1.pdf]
2014-02-04 Lecture 07 Potential fields.
2014-02-06 Lecture 08 Visibility graphs.
2014-02-11 Lecture 09

Update: Dr. Amato has postponed her visit because of the volatile weather. I expect it to be rescheduled later in the semester.

In lieu of the usual class meeting, please attend the seminar by Nancy Amato at 5:00pm in the Swearingen Faculty Lounge.
2014-02-13 Lecture 10 Cancelled.
2014-02-17 New deadlines for Homework 06 and Project 2 (reflecting the three day closure of the campus) have been posted. Homework 05 has been postponed until the seminar is rescheduled.
2014-02-18 Homework 06 Experiment with rviz, rosbag, and sensor_msgs/PointCloud. Write code that subscribes to the scan topic and continuously publishes a PointCloud, containing one point at the location of the closest obstacle to the sensor. Submit a screenshot of rviz that demonstrates that your program works correctly.
2014-02-18 Lecture 11 Geometric algorithms: Colinear, clockwise, counterclockwise. Segment intersection.
2014-02-20 Homework 07 Submit on paper at the start of class. [hw07.pdf]
2014-02-20 Lecture 12 Geometric algorithms: Point in polygon, segment in polygon.
2014-02-23 Project 2 Assigned 2014-02-03. [project2.pdf] [example-bags.zip]
2014-02-25 Lecture 13 Geometric algorithms: Degeneracies, numerical issues. Cell decompositions.
2014-02-27 As we discussed in class on 2014-02-20, please form groups of 3 or 4 students and send me email with the names of your group members.
2014-02-27 Lecture 14 Review Project 2 solution. Trapezoidal decompositions.
2014-03-03 Last day to drop without WF
2014-03-04 Lecture 15 Trapezoidal decompositions. Boustrophedon decompositions.
2014-03-06 Midterm Covering everything up to and including 2014-03-06. [review1.pdf]
2014-03-11 Spring break
2014-03-13 Spring break
2014-03-18 Lecture 17 Test 2 review. Turtlebot demo.
2014-03-20 Lecture 18 Pursuit and evasion.
2014-03-25 Homework 08 Submit on paper at the start of class. [hw08.pdf]
2014-03-25 Lecture 19 Pursuit and evasion. Taxonomy of localization problems.
2014-03-25 Project 3 Assigned 2014-03-03. [project3.pdf]
2014-03-27 Lecture 20 Geometric localization.
2014-04-01 Homework 09 Submit on paper at the start of class. [hw09.pdf]
2014-04-01 Lecture 21 Configuration spaces and motion planning.
2014-04-03 Lecture 22 Sampling-based motion planning.
2014-04-08 Homework 10 Submit on paper at the start of class. [hw10.pdf]
2014-04-08 Lecture 23 What makes motion planning problems hard? Motion planning examples. Kalman filtering.
2014-04-10 Lecture 24 Kalman filtering.
2014-04-10 Project 4 Assigned 2014-03-27. [project4.pdf]
2014-04-15 Homework 11 Submit on paper at the start of class. [hw11.pdf]
2014-04-15 Lecture 25 Histogram filters. Particle filters.
2014-04-17 Lecture 26 Particle filters. SLAM.
2014-04-22 Homework 12 Submit by email, or on paper at the start of class. [hw12.pdf]
2014-04-22 Lecture 27 SLAM
2014-04-24 Homework 13 Submit on paper at the start of class. [hw13.pdf]
2014-04-24 Lecture 28 Wrap up and review. Course evaluations.
2014-04-24 Project 5 Assigned 2014-04-10. Correction: Final day for completion of late submissions is April 30. [project5.pdf]
2014-04-29 12:30pm: Last possible time to submit Project 5 report and code late. (24 hours before last possible demo time.)
2014-04-29 Reading Day
2014-04-30 12:30pm: Last possible time to complete Project 5 demo late.
2014-04-30 Homework 05 Read this paper. Submit a report of approximately one page, summarizing the paper (enough to convince me that you've read it carefully) and critiquing its content. As requested by the class, this assignment has returned, but is strictly optional. If you submit it, it will replace your lowest homework score.
2014-05-01 Final Exam 12:30pm [review2.pdf]
2014-05-06 Grades for everything should be posted now. Because our dropbox software doesn't like grades larger than 100, the final exam is separated into two parts: one for the multiple choice questions and one for the rest of the exam. Add these two scores to get your complete final exam score, out of 150.

Letter grades are also in SSC now. I believe they'll become visible to you around noon tomorrow, or perhaps sooner. The grade cutoffs ended up being quite close to what's in the syllabus. As always, please let me know if there are any surprises. I want to ensure that everyone gets the credit they deserve.

Thanks for a great semester. We covered quite a lot of territory on both the theoretical and hands-on sides of robotics. Have a safe and relaxing (or productive (or both)) summer.