CS 309: Autonomous Intelligent Robotics (FRI I) - Spring 2018
|Class Times||Tuesday & Thursday - 3:30pm-5:00pm|
Office Hours & Contact Info
|Office Hours||Monday: 4:00pm-5:00pm|
|or by appointment|
|Office Hours||Tuesday & Thursday 2:30pm-3:30pm or by appointment|
|Kathryn E. Baldaufemail@example.com||1:30pm-3:00pm||1:30pm-3:00pm|
This class provides students with an understanding of modern research in the areas of robotics, artificial intelligence, and human-robot interaction. It is the first part of a two-course sequence, and serves in-part as preparation for the more complex work in CS 378: FRI II. In FRI II, students pursue a semester-long robotics research project. In this course, students learn the meaning and value of robotics research. They learn some of the technical skills necessary for research on the Building-Wide Intelligence project, and for participation in the RoboCup@Home team. On its own, it serves as a primer on the topics that it covers. As a two-course sequence, it provides exposure to performing research in a real laboratory with real robots. It also can serve as a preparation for long-term research projects on a volunteer basis, as a peer mentor, or as a member of the UT Austin Villa RoboCup@Home Team.
More details about BWI can be found at http://www.cs.utexas.edu/~larg/bwi_web/.
More details about RoboCup@Home can be found at http://www.robocupathome.org/.
Teaching ObjectivesThe following topics will be covered:
- Introductory C++ programming
- Robot Operating System (ROS)
- Basics of Artificial Intelligence & Human-Robot Interaction
- Reading & writing scientific research papers
- Performing and understanding good research
There is no textbook for this course. There will be a series of 4 papers to which students are expected to give written responses and participate in in-class discussions. At the end of the semester, a final research project will be performed as groups. For this, students are expected to act on what they learned this semester and perform a brief literature survey to justify the ideas in their experiments.
Class sessions will be held in CBA 4.344 on Tuesdays and Thursdays. Attendance is mandatory. Students are expected to email the instructor in advance to inform of any potential absences. Several of the homeworks will involve working on real robots, which can be found in the laboratory, GDC 3.414.
Students are also expected to be able to work independently. There is no programming pre-requisite for this course, though a working knowledge of programming will be helpful. Four of the six first lectures in the class will be dedicated to C++ programming, with intensive programming instruction in ROS to follow. Homeworks and projects will utilize ROS in the C++ programming language.
Grades will be based on:
|Class participation and attendance||10%|
The final project will comprise the following components. You will be graded equally on both of these as well as successful completion of the project:
|Final Project Report|
Plus and minus grades will be used in final grading of the course.
Final project reports will be due on Monday, May 07 by 11:59pm.
Final project presentations will be during the final exam slot on Thursday, May 10 from 2:00pm-5:00pm.
Planned Lecture Schedule(Subject to change due to pace of class, see website for updates)
Reading responses due the night before corresponding reading discussions at 11:59pm.
|01/18/18||Introduction, Panel with Peer Mentors||Slides|
|01/23/18||Setting the Stage: An Introduction to Artificial Intelligence||Slides|
|Introduction to C++ & Make|
|01/25/18||Guest Lecturers - Guest Topics|
|01/30/18||Setting the Stage: An Introduction to Artificial Intelligence||Slides|
|Introduction to C++ & CMake|
|02/06/18||C++ End||HW1 goes out|
|02/08/18||Symbolic Reasoning, Search, & PDDL||Slides|
|02/13/18||Symbolic Reasoning, Search, & PDDL||Slides|
|02/15/18||What is ROS?||HW1 due 11:59pm||Slides|
|ROS Technical Intro (Setting up Catkin Workspace)|
|02/19/18||Reading Responses due 11:59pm|
|02/20/18||Reading Discussion: No Fair!! An Interaction with a Cheating Robot||HW2 goes out||Slides|
|Intro to Human-Robot Interaction|
|02/22/18||What is Publish/Subscribe? What are ROS Topics?||Slides|
|ROS Publish/Subscribe Tutorial|
|02/27/18||What is a Remote Procedure Call? What is a ROS Service?||Slides|
|ROS Service Tutorial|
|03/01/18||ROS Action Servers & Message Formatting||HW2 due 11:59pm||Slides|
|ROS Basics Wrap-Up|
|03/06/18||Reading Discussion: Elephants Don't Play Chess||HW3 goes out||Paper||Slides|
|Introduction to Behavior-Based Systems|
|03/08/18||Intro to Computer Vision||Slides|
|Vision Processing in OpenCV|
|03/20/18||Recap Based on Homework||Slides|
|03/22/18||Starting the Robot||HW4 goes out||HW3 due 11:59pm||Slides|
|Coordinate Frames & Spatial Transformations|
|03/29/18||Forming Project Groups||HW5 goes out||HW4 due 11:59pm||Slides|
|Coordinate Frames Recap|
|TF, Alvar, & Eigen|
|04/03/18||ROS Navigation Goals||Slides|
|Practical tips for HW 5|
|04/05/18||Practical Tips for HW5||Slides|
|Preparing for Final Projects|
|04/10/18||Final Project Proposals||Slides|
|Getting Through HW5|
|Final Project Concept Debugging|
|04/17/18||Final Project Kickoff in Lab|
|04/19/18||Writing Final Papers||Slides|
|04/24/18||Reading Discussion: Characterizing the Design Space of Rendered Robot Faces||Paper|
|04/26/18||Reading Discussion: Paper TBA|
|Reading & Writing Research Papers|
|05/01/18||Giving Research Talks|
|Autonomous HRI & Robotics Research Wrap-up|
|05/03/18||Project Work Session in Lab|
|05/10/18||Final Project Presentations|
AssignmentsAll assignments due 11:59pm unless otherwise noted.
|02/15/18||HW 1: C++ Exercises||NumberList.h|
|03/01/18||HW 2: Planning with PDDL|
|03/22/18||HW 3: ROS Basics & Simple Color Filtering||three_cups.bag|
|03/29/18||HW 4: Start up the Robot|
|04/12/18||HW 5: Follow the AR Tag||ROS package||ENHANCED ROS package|
|04/12/18||HW 6: 2-Page Final Project Description|
|05/07/18||Final Project Paper|
|05/10/18||Final Project Presentation - In Class|
|All C++ examples, top level||Here|
|C++ Example 1||Hello World!|
|C++ Example 2||Hello World using cout!|
|C++ Example 3||Declaration and assignment.|
|C++ Example 4||Namespaces.|
|C++ Example 5||Loops.|
|C++ Example 6||Functions.|
|C++ Example 7||Function Parameters.|
|C++ Example 8||Header Files.|
|C++ Example 9||Header/Implementation Files.|
|C++ Example 10||If/Else.|
|C++ Example 11||Types.|
|C++ Example 12||Pointers and References.|
|C++ Example 13||Arrays.. which are basically pointers.|
|C++ Example 14||STL vectors.|
|C++ Example 15||Classes.|
|C++ Example 16||Classes can also go in headers and implementation files.|
|C++ Example 17||Abstract classes and inheritance.|
|C++ Example 18||Signed and unsigned numbers.|
|Color Thresholding Example||ROS package source lifted from my workspace|
|All PDDL examples, top level||Here|
|PDDL Example 1||Grasp|
|PDDL Example 2||Stacking blocks|
|PDDL Example we built as a class||Towers of Hanoi|
As this is a research course, it is important to use the many tools at your disposal to achieve your research goals. Students will work in groups in this course, and are expected to collaborate with their teams and outside of their immediate teams in order to achieve the best results possible. When you leverage someone else's work, cite them. Citations are the currency of the scientific community. Use third-party software, but make sure to honor licenses and cite the authors. In this course, you will be graded on what you accomplish above and beyond what is already freely available. If this means implementing an algorithm, state which parts were your original work or implementation in your progress reports, and which parts were downloaded or were someone else's ideas. In this class, leveraging such resources is encouraged. It makes code easier to maintain and update, and encourages potential collaborations with other institutions. Invest your efforts in making novel discoveries or implementing functionality beyond what is freely available. Do, however, abide by Computer Science Department's Academic Honesty Policy, which can be found at http://www.cs.utexas.edu/users/ear/CodeOfConduct.html\#honesty
Students with Disabilities
The University of Texas at Austin provides upon request appropriate academic accommodations for qualified students with disabilities. To determine if you qualify, please contact the Dean of Students at 471-6529; 471-4641 TTY. If they certify your needs, I will work with you to make appropriate arrangements. Further information can be found at http://www.utexas.edu/diversity/ddce/ssd/.
Missed Work Due to Religious Holy Days
A student who misses an examination, work assignment, or other project due to the observance of a religious holy day will be given an opportunity to complete the work missed within a reasonable time after the absence, provided that he or she has properly notified the instructor. It is the policy of the University of Texas at Austin that the student must notify the instructor at least fourteen days prior to the classes scheduled on dates he or she will be absent to observe a religious holy day. For religious holy days that fall within the first two weeks of the semester, the notice should be given on the first day of the semester. The student will not be penalized for these excused absences, but the instructor may appropriately respond if the student fails to complete satisfactorily the missed assignment or examination within a reasonable time after the excused absence.
This course, as presented by Justin Hart, is an evolution of material developed by Jivko Sinapov, who succeeded Matteo Leonetti. It is influenced by Brian Scassellati's CS 473b: Intelligent Robotics course at Yale University. It has been developed in conjunction with Peter Stone.