1. CS225B Robot Programming Laboratory
TA: Phil Fong
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

2. 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, me and TA
2/19/2019
CS225B Kurt Konolige

3. 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.
LaValle.  Planning Algorithms.  Available online:
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

4. 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

5. 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

6. 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

7. 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