Course on "Fast Robots", offered Spring 2022 in the ECE dept at Cornell University
This project is maintained by CEI-lab
All deadlines are specified on Canvas.
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 (TR) | Class intro, Data, Comms, Linear Algebra refresh, T-matrices | Lab 1, Artemis, Make and share your Github page |
| 2 (TR) | Sensors (TOF, proximity, encoders, IMU) and sensor fusion | Lab 2, Bluetooth communication |
| 3 (TR) | Actuators, circuits and routing, EMI | Lab 3, TOF and IMU |
| 4 (TR) | Linear systems, PID control | Lab 4, Characterize your car |
| 5 (TR) | Linearizing, controllability | Lab 5, Motor driver and open loop control |
| 6 ( R) | Observability/LQG/KF | No lab |
| 7 (TR) | Map representations, Graph search | Lab 6, PID speed control |
| 8 (TR) | Path planning, PRM, RRT | Lab 7, Kalman Filters (sensor fusion) |
| 9 (TR) | Probability, Bayes theorem, Markov models | Lab 8, Stunts |
| 10 (TR) | In-class demonstrations, Motion models, Sensor models | Lab 9, Mapping (real) |
| 11 ( ) | Spring break | No lab |
| 12 (TR) | Bayes filter | Lab 10, Simulator |
| 13 (TR) | Localization | Lab 11, Localization (sim) |
| 14 (TR) | Ethics | Lab 12, Localization (real) |
| 15 (TR) | Guest lectures: Katie Bradford from Vecna and Adam Kane from AMSL | Lab 13, Planning and execution (real) |
| 16 (T) | Trivia | Lab 13, Planning and execution (real) |