FastRobots-2023

ECE4160/5160-MAE 4190/5190: Fast Robots course, offered at Cornell University in Spring 2023

This project is maintained by CEI-lab

Fast Robots, Tentative Schedule Spring 2023

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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)

Lecture slides