cs 4495/7495 robotics & perception @ gtl
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CS 4495/7495Robotics & Perception @ GTL
Instructor: Frank DellaertTA: Alistair Jones
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Overview
Introductory robotics course typicallyoffered in the College of Computing
Course web site:www.cc.gatech.edu/~dellaert/07F-Robotics
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Course Objectives
Desired learning outcomes: know the basics of mobile robotics and
perception internalize probabilistic reasoning to
estimate the state of the robot and its world gain familiarity with popular control
algorithms, localization algorithms, andmapping techniques
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Prerequisites
None, except college-level math: we willcover all beyond that in class.
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TextbooksNo Required Text
Optional:
Probabilistic Robotics.Sebastian Thrun, WolframBurgard and Dieter Fox.
Introduction to AutonomousMobile Robots, by RolandSiegwart and Illah Nourbakhsh
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Workload
This course is going to be a lot of fun.It’s also going to be some amount of work.If you have questions or concerns, don’t
hesitate to send me email or come by myoffice.
Office hours:Tuesday & Wednesday 2-3pm, Room 206
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Grade Distribution
Class Attendance & Participation: 5%Exercises: 15%Assignments: 40%Project: 20%Midterm & Final Exam: 10% each
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More than ½ of the grade:Assignments & Project
4 programming assignments (2 weeks)1 project (3-4 weeks)
implement research paper
13 Small Exercises
Collaboration Policywhite board interactionyou write your own codeGeorgia Tech Honor Code
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Schedule
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01 Locomotion and Kinematics
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02 Hierarchical Architectures
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03 Behavior-Based Control
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04 Reinforcement Learning
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05 Cameras & Stereo
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06 Omnidirectional Cameras
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07 Segmentation andObject recognition
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08 Topological Markov Localization
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09 Grid-Based Markov Localization
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10 Metric Path Planning
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11 Monte Carlo Localization
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12 Stochastic Mapping andKalman Filters
motionmotion
sensor
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13 FastSLAM