# Course Schedule 🗓️

The following breakdown is tentative.

### 1. Robot Operating System

- Aug 21
Introduction and Overview

- Aug 23
ROS Tutorials

- Aug 25
ROS Tutorials and Examples

- Aug 28
ROS Tutorials and Examples Continued

**HW 1 Release**

### 2. Robot Kinematics

- Aug 30
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D)

- Sep 1
Mobile Robot Motion and Constraints

- Sep 4
Labor day -

**No class**- Sep 6
Mobile Robot Steering Kinematics

- Sep 8
3D Rigid-body motion: Rotation Matrices

- Sep 11
3D Rigid-body motion: Rotation Matrices continued, Euler Angles

**HW 2.1 Release**- Sep 13
3D Rigid-body motion: Axis-Angle and Quaternions

**HW 1 Due**- Sep 15
3D Rigid-body motion: Properties of Rotations and Homogeneous Transformations

- Sep 18
Robot Arms: Configuration space and Task space

- Sep 20
DH Parameters

- Sep 22
DH Parameters continued

**HW 2.2 Release**- Sep 25
DH Parameters and Forward Kinematics

- Sep 27
Forward Kinematics continued

**HW 2.1 Due**- Sep 30
Inverse Kinematics

- Oct 2
Inverse Kinematics continued

### 3. State Estimation

- Oct 4
Introduction to State Estimation and Probability Fundamentals

**HW 2.2 Due**- Oct 6
Bayesian Filtering

- Oct 9
Fall break + Indigenous People’s Day -

**No class**- Oct 11
Kalman Filtering

**HW 3.1 Release**- Oct 13
Kalman Filtering continued

- Oct 16
Particle Filtering

**HW 3.2 Release**- Oct 18
Particle Filtering continued

### 4. Motion Planning

- Oct 20
Introduction to Planning

- Oct 23
Graph-based Methods

- Oct 25
Graph-based Methods continued

- Oct 27
Sampling-based Motion planning

**HW 4 Release**- Oct 30
Sampling-based Motion planning continued

### 5. Controls

- Nov 1
Introduction to Feedback Control

**HW 3 Due**- Nov 3
Restorative Day -

**No class**- Nov 6
Classical Control: PID

- Nov 8
PID Continued

- Nov 10
Pure Pursuit Control

- Nov 13
Stability of Control Systems

- Nov 15
State-Space Representation

**HW 4 Due**- Nov 17
Model Predictive Control (MPC)

**HW 5 and Final Project Release**- Nov 20
Optimal Control: Linear-Quadratic Regulator (LQR)

- Nov 22
Thanksgiving holiday -

**No class**- Nov 24
Thanksgiving holiday -

**No class**- Nov 27
LQR continued

- Nov 29
Special Topics: Intro to Assistive Robotics

- Dec 1
Special Topics: Building Caregiving Robots

- Dec 4
Robotics Lab Tour: EmPRISE Lab

**HW5 and Final Project due**