Kimberly Oakes's Website
Explore advanced robotics topics such as path planning and apply them to a mobile robot in an open-ended project.
Robotics 2
Recommended Prior Knowledge and Skills
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Linear algebra
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Multiplication of matrices and vectors
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Manipulation of matrices (inverse, transpose)
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Familiarity with a programming language
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MATLAB
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Python
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Linear time-invariant (LTI) systems
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Familiarity with transfer functions
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Knowledge of basic LTI characteristics
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Differential equations
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Familiarity with definition and solution of differential equations up to second order
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Optimization
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Familiarity with defining optimization problems
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Familiarity with some optimization solution techniques
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Robotics 1
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Forward and inverse kinematics
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Jacobian matrix
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Desired Course Outcomes
Students will be able to understand and apply:
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Localization
- Kalman filter
- Mapping
- Simultaneous localization and mapping (SLAM)
- Motion planning
- Bug algorithms
- Potential field method
- Sampling based approaches: PRM, RRT
- Distance calculation
- Formation control
- Closed kinematic chains
- Grasping and force control
- Point contact with and without friction
Course Deliverables
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Weekly quizzes
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Four mini projects
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Intro to ROS
- Utilizing sensors
- SLAM
- "New task"
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6000 level only
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Additional quiz questions
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Research paper summary
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About The Robot
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Rosmaster X3 from Yahboom
- Four omni-directional wheel mobile robot
- Equipped with Nvidia's Jetson Nano
- Equipped with RGB-D camera
- Equipped with LIDAR sensor
- Equipped with voice module
- Python and ROS capable
Some Past Project "New Tasks"
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SLAM with multiple robots
- Platooning using color tracking
- Search-and-rescue: face detection and rendezvous
- Multi-robot coordination