1. 8/8/2015CS225B Kurt Konolige CS225B Robot Programming Laboratory Email: konolige@willowgarage.com TA: Chintan Hossain, chintanh@stanford.edu Website: cs225b.stanford.edu Mailing lists: cs225b-aut1112-students@lists.stanford.edu cs225b-aut1112-staff@lists.stanford.edu cs225b-aut1112-all@lists.stanford.edu cs225b-aut1112-students@lists.stanford.edu cs225b-aut1112-staff@lists.stanford.edu cs225b-aut1112-all@lists.stanford.edu Projects done on robots in Lab Labs in B02, robots in B21 Keys to B21 from Gates 176 Office hours: after class, evenings before projects due

2. 8/8/2015CS225B Kurt Konolige Class Composition Target size is 25 students Priority: CS grad CS undergrad Other grad Other undergrad 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

3. 8/8/2015CS225B 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++ a must, Python useful -- programming ability Linux OS helpful Texts Thrun, Burgard, Fox. Probabilistic Robotics. http://www.probabilistic-robotics.org http://www.probabilistic-robotics.org LaValle. Planning Algorithms. Available online: http://msl.cs.uiuc.edu/planning http://msl.cs.uiuc.edu/planning Corke. Robotics, Vision and Control: Fundamental Algorithms in MATLAB Papers and handouts Readings expected to be done by the day they are listed in the syllabus (20% of the grade)

4. 8/8/2015CS225B Kurt Konolige Projects 3 Projects + 1 Final Project 50% + 30% of grade Projects due every 2.5 weeks Demonstration class: projects running on the robots Laboratory in B02 Linux laptops running Ubuntu Need to run Ubuntu on laptops; perhaps Mac OSX will work Register laptops with the Gates SAIL network: http://cs.stanford.edu/iphttp://cs.stanford.edu/ip 5 Turtlebots, wireless access ROS (Robot Operating System), www.ros.orgwww.ros.org Wraps Gazebo, a simulator that works with Turtlebots

5. 8/8/2015CS225B 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 www.courserank.com: Awesome course! Involves lots of programming in C++, so make sure you have ample experience coding in C++. Form a team where all members are well-versed with C++; having Linux knowledge is very helpful. The key to doing well in this course is starting with the assignments early, attending all lectures/presentations, participating in class discussions and getting your doubts clarified with the instructor/TA at the earliest. Sometimes, hanging around to hear what doubts others had helps you avoid those mistakes. Total of 4 assignments are out every 2 weeks, and it takes complete 2 weeks worth of effort to do well in them. So make sure your team meets frequently.

6. 8/8/2015CS225B Kurt Konolige Course Outline ROS [2 weeks] Writing ROS nodes Working with visualization and transform tools Planning [3 weeks] Metric and topological maps Wavefront methods Random tree methods Motion and Localization [3 weeks] Motion models Markov localization Probabilistic representation of uncertain movement Simultaneous Localization and Mapping (SLAM) [Final project] Nominally Graph-SLAM Individual projects encouraged, e.g., Visual Localization

7. 8/8/2015CS225B Kurt Konolige Writing Code Original code must be written for each project Can’t include external source code Can include external libraries as aids, e.g., Eigen for linear algebra, C++ stdlib, etc. Can’t use external libraries to solve the problem, e.g., implement Dijsktra’s algorithm Can look at external code to help figure out algorithms Can’t copy algorithm line-for-line You will write a lot of code! Projects take a lot of time to write and debug You must start your project before the day it is due Start simple and make it all work, then layer on complexity Working in groups You are responsible for your group dynamics