ECE4160/5160-MAE 4190/5190: Fast Robots course, offered at Cornell University in Spring 2023
This project is maintained by CEI-lab
All deadlines are specified on Canvas.
Some lectures may take more/less time depending on student feedback.
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 |
4 (TR) | Linear systems, PID control | Lab 4, IMU |
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) | Bayes filter I, Motion models, sensor models | Lab 8, continued |
11 ( ) | Spring break | No lab |
12 (TR) | Bayes filter II, In-class simulator setup | Lab 9, Mapping (real) |
13 (TR) | SLAM, Ethics I | Lab 10, Localization (sim) |
14 (TR) | Ethics II, Trivia | Lab 11, Localization (real) |
15 (TR) | Guest lectures (Eileen Behrendt, ASML, and Katie Bradford, Vecna) | Lab 12, Planning and execution (real) |
16 (T) | Final Showcase | Lab 12, Planning and execution (real) |