Course News

10/8 | HW5 posted. 10/8 | HW4 posted.

 

With support from

MEM380/800: Applied Autonomous Robots II

Mon 11am - 1:30pm
Curtis 453

Course Description

This course addresses the problems of controlling and motivating robots to act intelligently in dynamic, unpredictable environments. In this second installment, the course will focus on the robot perception problem. Major topics will include robot vision, visual servoing, and state estimation techniques. To demonstrate these concepts, we will be looking at mobile robots. Lectures will be complemented by projects, discussions, and in-class presentations by students. The projects will focus on programming actual robots to perceive and react to their environment.

Prerequisites: Fundamental Robotics I, Linear Algebra, and Ordinary Differential Equations.

Instructor & TAs

Instructor

M. Ani Hsieh
Office: 159 Curtis Hall
E-mail: mhsieh1 at drexel dot edu
Office Hours: Mon 3-4pm

Teaching Assistant

Kenneth Mallory
Office: Hess 10F
E-mail: km374 at drexel dot edu
Office Hours: TBD


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Texts

Required Text

Introduction to Autonomous Mobile Robots
by Roland Siegwart and Illah R. Nourbakhsh
ISBN-10:026219502X
ISBN-13: 978-0262195027


Supplemental Texts

Probabilistic Robotics
by Sebastian Thrun, Wolfram Burgard and Dieter Fox
ISBN-10: 0262201623
ISBN-13: 978-0262201629

Computer Vision: A Modern Approach
by David A. Forsyth and Jean Ponce
ISBN-10: 0130851981
ISBN-13: 978-0130851987

Computer Vision
by Linda G. Shapiro and George C. Stockman
ISBN-10: 0130307963
ISBN-13: 978-0130307965


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Grading Policy

This course will have a strong focus hands-on programming experience. As such, there will be extensive programming assignments, in class discussions, demonstrations, and project presentations. All assignments are due at 11:59pm EST on the due date and must be submitted electronically via e-mail. With the exception of Matlab code, all assignments must be written up and submitted as a single PDF file not to exceed 5 MBs in size. Matlab code must be submitted following the exact submission guidelines outlined for each assignment. Failure to adhere to the guidelines will result in runtime errors. If we cannot run your code, this will automatically result in a missed assignment. Failure to comply to these guidelines will result in automatic rejection of your submissions without notification. Late assignments will not be accepted.

Grading will follow the breakdown listed below for students registered for MEM380:
  • Assignments:   40%
  • Projects:   50%
  • Class Participation and Teamwork:   10%

Grading will follow the breakdown listed below for students registered for MEM800:
  • Assignments:   30%
  • Projects:   40%
  • Written Midterm:   20%
  • Class Participation and Teamwork:   10%

NOTE: MEM380 and MEM800 will be graded using different scales. Additionally, different grade curves will be applied.

Class Participation
In addition to class participation, you are expected to help each other with assignments and the final project. To evaluate your teamwork, each person will complete an evaluation form twice during the quarter. Once at Week 5 and at Week 10. Submission of the evaluation forms is mandatory. In the evaluation form, you will also be asked to nominate class individuals who have significantly contributed to your understanding of the course materials. People who consistently participate in peer learning efforts will be appropriately rewarded. Teamwork is even more critical once the Final Project has been assigned. There will be a section in Week 10s evaluation form where each member will be asked to indicate what percentage of the overall work each member of the team performed. In general, it is impossible for each member to do an exactly equal portion of the work, therefore if someone claims everyone in his/her n-person team did (100/n)% of the work, it is likely that he/she is lying. However, do try and keep everyone involved and arrange it so that each person gets a chance to be responsible for different parts of the lab assignment for each week, i.e. programming, testing, writing, etc.

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