Time and Place: TF, 3:25 -- 5:05, Behrakis Health Sciences Cntr 320

College of Computer and Information Science

Primary Instructor: Robert Platt

This course will be a mathematical introduction to important algorithms in robotics and perception. We will study some or all of the following topics:

- Kinematics/zero-order control
- Representation of rotation
- Manipulator forward kinematics
- Manipulator differential kinematics
- Cartesian end-effector control
- Planning, Control
- Sample-based planning methods (RRT, PRM)
- Trajectory optimization, Newton's method, Sequential Quadratic Programming
- Markov Decision Processes
- Linear optimal control (LQR, TVLQR)
- Filtering, Localization, and Mapping
- Kalman filter, EKF, Kalman smoothing
- SLAM algorithms
- Computer Vision, Perception in Point Clouds
- RANSAC, ICP (iterative closest point)
- Linear filtering
- Feature representations
- Object recognition; category recognition

The main textbook used in this course is *Robotics, Vision, and Control: Fundamental Algorithms in Matlab* by Peter Corke. You should buy this book. Additional material is taken from on-line sources that will be linked from the schedule page.

There are no formal pre-requisites, but it will be important for you to have a working knowledge of linear algebra. Here are some sinks to some Khan Academy lectures that can help you with this material if you need it:

Vector intro for linear algebraIntroduction to the matrix

Multiplying matrices

Introduction to the identity matrix

How to transform vectors using a transformation matrix

Introduction to eigenvalues and eigenvectors

Cheating and other acts of academic dishonesty will be referred to OSCCR (office of student conduct and conflict resolution). See this link.

Late assignments will be penalized by 10% for each day late. For example, if you turned in a perfect homework assignment two days late, you would receive an 80% instead of 100%.

Primary Instructor: Robert Platt ( r [dot] platt [at] neu [dot] edu )

Office hours: Fridays, 11-12, 208B West Village H, or by Appt.

TA: NA

Office hours: NA

None

Required course work includes:

- Approximately 5 Programming/Homework assignments (60% of your grade)
- 1 Final project (40% of your grade)

Most assignments will involve MATLAB programming. However, a few will involve pencil/paper problems.

Students must complete a final project. The project must be substantial either practically or algorithmically. The amount of project work should be equivalent to approximately three programming assignments. If they want, students my work in pairs. See schedule for due dates.

This course requires students to use MATLAB in conjunction with Peter Corke's Robotics Toolbox and Machine Vision Toolbox.