ECE 4960, Tentative Schedule 2020 Fall
Some lectures may take more/less time depending on student feedback. Labs may get shuffled/cancelled pending on the development of the pandemic. We will make it work!
| Week | Topic | Homework |
|---|---|---|
| 1 (R) | Make and share your Github page | |
| 2 (TR) | Linear Algebra refresh, rotation/translation matrices | Lab 1, Artemis, , setup Arduino/Artemis and VM |
| 3 (TR) | Sensors (TOF, Proximity, encoders, IMU) | Lab 2, Bluetooth communication |
| 4 (TR) | PID control | Lab 3, characterize your car (real/sim) |
| 5 (TR) | Noise, discrete probability, Bayes theorem, Markov Processes | Lab 4, Motor driver, open loop control (real/sim) |
| 6 (TR) | Bayes filter, odometry/sensor models, mapping | Lab 5, Prox, TOF, obstacle avoidance (real/sim) |
| 7 (TR) | Localization | Lab 6, IMU, PID, and odometry (real/sim) |
| 8 (TR) | Path planning, probabilistic roadmap | Lab 7, Mapping (real/sim) |
| 9 (TR) | Linear systems, linearizing, controllability | Lab 8, Localization (sim) |
| 10 (TR) | Reachability, eigenplacement, Gramians | Lab 9, Localization (real) |
| 11 (TR) | Inverted pendulum dynamics, LQR | Lab 10, Planning and Execution (real) |
| 12 (TR) | No lab | |
| 13 (TR) | No lab | |
| 14 (T) | No lab | |
| 15 (TR) | Observability/LQG/KF, guest lecture (Prof. Konidaris, Realtime Robotics) | Lab 11a (LQR, real) OR Lab 11b (LQR, sim) |
| 16 (TR) | Guest lectures (Prof. Ferrari and Zipline eng., Dr. Vasumathi Raman) | Lab 12a (LQG, real) OR Lab 12b (LQG, sim) |
| 17 (T) | Recap | No lab |