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1: 2 April

Introductions

SS-DTE Challenge

Lecture Slides: lec-w1-intro.pdf

Issue laptops, create user accounts

Overview of Tools: Linux+Git+ROS+MATLAB

 

Lecture Slides: lec-w1-tools.pdf
Due 1700: Assignment 1: Linux and Git Introduction
2: 9 April

Multi-Robot Overview
Meet in WA-150

Reading Due: Distributed Intelligence: Overview of the Field and its Application in Multi-Robot Systems, Lynne E. Parker

Preview Assignment 2

Lecture Slides:

ROS Overview

How to use ROS Tutorials


 

Due 1700: Assignment 2: ROS Tutorials Part 1
3: 16 April

Behavior-Based Control
Meet in WA-150

Reading Due: Designing and Understanding Adaptive Group Behavior, Maja J. Mataric

Lecture Slides: w3-ros.pdf

NPS ARSENL's 50-plane Mission Playback

Review Assignment 2
Preview Assignment 3

Consider going to one or more of the CRUSER TechCon events this week!

ROS: Topics, services, roslaunch, rosbag

ROS and MATLAB

 

Due 1700: Assignment 3: ROS Tutorials Part 2
4: 23 April

Behavior-Based Control
Meet in WA-150

Reading Due: STP: skills, tactics, and plays for multi-robot control in adversarial environments, B. Browning et al.

Lecture Slides: w4-matlab-ros-control.pdf

MEET IN CLASSROOM

ROS and MATLAB

ROS and Gazebo

Simple Waypoint Control

 

 

Due 1700: Assignment 4
5: 30 AprilSystem-theoretic control


Reading Due: Simultaneous Localization and Mapping: Part 1, H. Durrant-Whyte and T. Bailey

From Simulation to Hardware

Control Review

Single Robot Control

Pioneer Checkout

Lecture Slides: w5-robothardware.pdf

Video: Pioneer waypoint navigation with rviz

 
6: 7 MayNo Class on Monday!

System-theoretic control

USV Example:
https://vimeo.com/236443394
20june_USV_potlines_run4_yawspeed.png

Reading Due: Cooperative control of mobile sensor networks: adaptive gradient climbing in a distributed environment, Ogren, Fiorelli and Leonard

Due 1700: Assignment 5
7: 14 May

Applications

  Reading Due: Multi-AUV control and adaptive sampling in Monterey Bay, E. Fiorelli et al.

Lecture Slides: turtlebot_navigation.pdf

Videos:

Mapping, localization and path-planning


 

 

8: 21 May

 

No ClassNo Class

Due 1700: Assignment 6


9: 28 May

Memorial Day Holiday

No Class


Multi-Robot Implementation

Due 1700: Assignment 7
10: 4 June

Multi-Robot Navigation

Applications

Reading Due: Collaborative Unmanned Operations for Maritime Security, Peter Drewes and Jerry Franke
and
Flight and In-Water Experiments of Autonomy and Human Interface Technologies with Multiple Unmanned Systems, M. Steinberg

Multi-Robot Navigation
Leader-Follower via AMCL and Simulink

Lecture Notes: turtlebot_multi_nav.pdf

Video Demonstration: https://vimeo.com/273348300

Due 1700: Assignment 8
11: 11 June

Last Day of Class

Class debrief

Slides: w11-wrapup.pdf

Thesis and Research Week


 

Graduation
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