ECE4160/5160-MAE 4190/5190: Fast Robots course, offered at Cornell University in Spring 2024
This project is maintained by FastRobotsCornell
All deadlines are specified on Canvas.
Some lectures may take more/less time depending on student feedback.
| Week | Topic | Homework |
|---|---|---|
| 1 (TR) | Class intro, Data, Comms, Linear Algebra refresh, T-matrices | Lab 1, Artemis, Make and share your Github page |
| 2 (TR) | Sensors (TOF, proximity, encoders, IMU) and sensor fusion | Lab 1, Artemis, continued |
| 3 (TR) | Actuators, circuits and routing, EMI | Lab 2, IMU |
| 4 (TR) | Linear systems, PID control | Lab 3, ToF |
| 5 (TR) | Linearizing, controllability | Lab 4, Motor driver and open loop control |
| 6 ( R) | Observability/LQG/KF | No lab |
| 7 (TR) | Map representations, Graph search | Lab 5, Linear PID control and Linear interpolation |
| 8 (TR) | Path planning, PRM, RRT | Lab 6, Orientation PID control |
| 9 (TR) | Probability, Bayes theorem, Markov models | Lab 7, Kalman Filter |
| 10 (TR) | Bayes filter I, Motion models, sensor models | Lab 8, Stunts |
| 11 ( ) | Spring break | No lab |
| 12 (TR) | Bayes filter II, In-class simulator setup | Lab 9, Mapping (real) |
| 13 (TR) | SLAM, Ethics I | Lab 10, Localization (sim) |
| 14 (TR) | Ethics II, Trivia | Lab 11, Localization (real) |
| 15 (TR) | Guest lectures (Eileen Behrendt, ASML, and Katie Bradford, Vecna) | Lab 12, Planning and execution (real) |
| 16 (T) | Final Showcase | Lab 12, Planning and execution (real) |