| Course home page | Syllabus | Schedule/Readings/Notes | Homework Assignments | Exams and Grading |
| Date | Topics | Assigned Readings/Handouts (Unless otherwise noted, the assigned readings are in the Murphy text) |
Homeworks |
| Thurs. 1/11 |
Course introduction, overview. Introduction to Player/Stage robot simulator. |
Paper introducing Player Player/Stage Getting Started Guide (UTK-specific) Player/Stage Documentation (Public-domain website) |
Assigned: Homework 1 (due Jan. 24 at 23:59:59) |
| Tues. 1/16 |
No lecture (professor out of town on research travel).
Instead: Tour of Prof. Parker's robotics lab, led by Yifan Tang, Yuanyuan Li, and Rasko Pjesivac. Meet in classroom at usual meeting time. |
FYI: Info on Prof. Parker's Distributed Intelligence Lab | |
| Thurs. 1/18 | Big Picture: overview of issues and challenges in autonomous robotics | Example Makefile for compiling Player client programs | |
| Tues. 1/23 | History of Intelligent Robotics | Chapter 1 Additional Reading: "Chapter 1: Whence Behavior", pages 1-20, from Arkin, MIT Press, 1998" (handed out in class on 1/25) |
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| Thurs. 1/25 | Hierarchical Paradigm and STRIPS | Chapter 2 | Assigned: Homework 2 (due Feb. 9 at 23:59:59) |
| Tues. 1/30 | Biological Foundations | Chapter 3 | |
| Thurs. 2/1 | Robot Behavior (Guest lecture by Rasko Pjesivac) |
Additional Reading: "Chapter 3: Robot Behavior", pages 65-121, from Arkin, MIT Press, 1998 (handed out in class) | |
| Tues. 2/6 | Behavior-Based Paradigm: Part I | Chapter 4 | |
| Thurs. 2/8 | Behavior-Based Paradigm: Part II | Assigned: Homework 3 (due March 2 at 23:59:59) |
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| Tues. 2/13 | Designing Behavior-Based Systems In-class team design competition: DARPA Urban Challenge |
(Excerpts from DARPA Urban Challenge Rules
for design competition) Chapter 5 |
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| Thurs. 2/15 | EXAM 1 (closed book, closed notes) |
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| Tues. 2/20 | Review Exam 1 Sensing |
Chapter 6 | |
| Thurs.2/22 | Sensing (con't.) Path Planning |
Chapter 10 | |
| Tues. 2/27 | Path Planning (con't.) | Chapter 9 | |
| Thurs. 3/1 | Path Planning (con't.) Representational Issues | Assigned: Homework 4 Also: Homework 4 Appendix (due March 30 at 23:59:59)
Assigned: Final Project |
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| Tues. 3/6 | Localization and Mapping | Chapter 11 | |
| Thurs. 3/8 | Localization and Mapping (con't.) | Additional Reading: Fox, et al, AAAI-99 article (handed out in class); also available here. | |
| Tues. 3/13 | No class; spring break | ||
| Thurs. 3/15 | No class; spring break | ||
| Tues. 3/20 | Tutorial on Gazebo (3D version of Stage) (Presented by Rasko Pjesivac) |
Notes on using Gazebo | |
| Thurs. 3/22 | EXAM 2 (closed book, closed notes) | ||
| Tues. 3/27 | Hybrid deliberative/reactive | Chapter 7 | |
| Thurs. 3/29 | Multi-Robot Systems | Chapter 8 Additional Reading: Parker, "Multiple Mobile Robot Systems" (robotics handbook chapter draft) (handed out in class) |
Assigned: Homework 5 (due April 19 at 06:00:00) |
| Tues. 4/3 | Multi-Robot Systems (con't.) | ||
| Thurs. 4/5 | Evaluating Robot Systems | ||
| Tues. 4/10 | Learning and Adaptive Behavior | Additional Reading: "Chapter 8: Adaptive Behavior", pages 305-357, from Arkin, MIT Press, 1998 (handed out in class on 4/5) | |
| Thurs. 4/12 | Learning and Adaptive Behavior (con't.) | ||
| Tues. 4/17 | Wrap-up of Learning and Adaptive Behavior Learning and Adaptive Beh. III Future Directions and Course Summary |
Chapter 12 | |
| Thurs. 4/19 | In-class Predator-Prey software competition (HW #5) Meet in Hydra Lab promptly at 11:10! |
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| Tues. 4/24 | Final project presentations | ||
| Thurs. 4/26 | Final project presentations | ||
| Monday 5/7 | Final Exam, 12:30-2:30 PM (Closed book, closed notes) |