# Course Schedule 🗓️

The following breakdown is tentative.

### 1. Introduction and ROS fundamentals

### 2. Robot Kinematics

- Sep 3
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D)

**HW 1**__Introduction (ROS)__- Sep 6
Labor day -

**No class**- Sep 8
Mobile Robot Motion and Constraints

- Sep 10
Mobile Robot Steering Kinematics

- Sep 13
3D Rigid-body motion: Rotation Matrices

- Sep 15
3D Rigid-body motion: Rotation Matrices continued, Euler Angles

- Sep 17
3D Rigid-body motion: Axis-Angle and Quaternions

**HW 1 Due**- Sep 20
3D Rigid-body motion: Properties of Rotations and Homogeneous Transformations

- Sep 22
Robot Arms: Configuration space and Task space

- Sep 24
DH Parameters

- Sep 27
DH Parameters continued

**HW 2.2**__Kinematics__- Sep 29
DH Parameters and Forward Kinematics

- Oct 1
Forward Kinematics continued

**HW 2.1 Due**- Oct 4
Inverse Kinematics

- Oct 6
Inverse Kinematics continued

### 3. State Estimation

- Oct 8
Introduction to State Estimation and Probability Fundamentals

- Oct 11
Fall Break -

**No class**- Oct 13
Bayesian Filtering

- Oct 15
Kalman Filtering

**HW 2.2 Due****HW 3**__State Estimation__- Oct 18
Kalman Filtering continued

- Oct 20
Particle Filtering

- Oct 22
Particle Filtering continued

### 4. Motion Planning

### 5. Controls

- Nov 5
Introduction to Feedback Control

**HW 3 Due**- Nov 8
Classical Control: PID

- Nov 10
PID continued

- Nov 12
Pure Pursuit Control

- Nov 15
Stability of Control Systems

- Nov 17
State-Space Representation

**HW 5 and Final Project**- Nov 19
State-Space Representation Continued

- Nov 22
Model Predictive Control (MPC)

- Nov 24
Thanksgiving holiday -

**No class**- Nov 26
Thanksgiving holiday -

**No class**- Nov 29
Optimal Control: Linear-Quadratic Regulator (LQR)

- Nov 30
**HW 4 Due**- Dec 1
LQR continued

- Dec 3
Special Topics: Physically Assistive Robots

- Dec 6
Robotics Lab Tour: EmPRISE Lab

- Dec 11
HW5 and Final Project due