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CS 4495/7495Robotics & Perception @ GTL
Instructor: Frank DellaertTA: Alistair Jones
Overview
Introductory robotics course typicallyoffered in the College of Computing
Course web site:www.cc.gatech.edu/~dellaert/07F-Robotics
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
Prerequisites
None, except college-level math: we willcover all beyond that in class.
TextbooksNo Required Text
Optional:
Probabilistic Robotics.Sebastian Thrun, WolframBurgard and Dieter Fox.
Introduction to AutonomousMobile Robots, by RolandSiegwart and Illah Nourbakhsh
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
Grade Distribution
Class Attendance & Participation: 5%Exercises: 15%Assignments: 40%Project: 20%Midterm & Final Exam: 10% each
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
Schedule
01 Locomotion and Kinematics
02 Hierarchical Architectures
03 Behavior-Based Control
04 Reinforcement Learning
05 Cameras & Stereo
06 Omnidirectional Cameras
07 Segmentation andObject recognition
08 Topological Markov Localization
09 Grid-Based Markov Localization
10 Metric Path Planning
11 Monte Carlo Localization
12 Stochastic Mapping andKalman Filters
motionmotion
sensor
13 FastSLAM