CS225B Robot Programming Laboratory Email: konolige@ai.sri.com, gerkey@ai.sri.com TA: Phil Fong fongpwf@stanford.edu Website: cs225b.stanford.edu Mailing list: cs225B Projects done on robots in Lab Lab itself in B30/32 Keys from Gates 176 Office hours: before class, evenings before projects due 2/19/2019 CS225B Kurt Konolige

Class Composition Target size is 25 students Priority: CS grad CS undergrad Others Groups of 2-3 people for projects Try to get at least one CS person / good programmer per group Groups formed by next Tuesday Choose a group name, email me and TA 2/19/2019 CS225B Kurt Konolige

Course format Lectures, alternating between theory and practice Requirements: Linear algebra and trigonometry (2D transforms) Probability theory helpful, but we will learn all we need C++, Python, Java, etc. -- programming ability Linux OS helpful Texts Thrun, Burgard, Fox. Probabilistic Robotics. http://www.probabilistic-robotics.org LaValle.  Planning Algorithms.  Available online: http://msl.cs.uiuc.edu/planning Papers and handouts Readings expected to be done by the day they are listed in the syllabus (20% of the grade) 2/19/2019 CS225B Kurt Konolige

Projects 3 Projects + 1 Final Project Projects due every 2.5 weeks 50% + 30% of grade Projects due every 2.5 weeks Demonstration class: projects running on the robots Laboratory in B30/32 3 Linux desktop computers 3 Erratic robots, wireless access Simulator 2/19/2019 CS225B Kurt Konolige

Course Goals Learn about the autonomous robotics field Investigate the main methods needed to make robots move intelligently Hands-on projects to implement the methods 2/19/2019 CS225B Kurt Konolige

Course Outline Mobile Robot Motion and Architectures Localization How do mobile robots move? How can we program them to perform tasks? Player/Stage architecture Localization Markov localization Probabilistic representation of uncertain movement Planning Metric and topological maps Wavefront methods Random tree methods Final Project Dynamic sensing (vision or LRF) Competitive environment 2/19/2019 CS225B Kurt Konolige

Final Project ..\videos\auto-skate.avi Task: Program the robot to play one-on-one robot soccer System: AmigoBot with laptop, color camera, sonars Abilities: 1. Stay localized 2. Stay out of opponent’s goal 3. Locate the ball with laser 4. Movement to “kick” the ball 5. Movement to block the ball 6. Strategy ..\videos\auto-skate.avi 2/19/2019 CS225B Kurt Konolige