CSE 568
Robotics Algorithms
MWF 11:00 11:50 AM
Prof. Karthik Dantu
[email protected]
http:/www.cse.bualo.edu/faculty/kdantu/
Davis 331
Oce Hours: MW 1-2pm
(716) 645-2670
This syllabus is subject to cha
1. a.
Let X denote the first chicken pulled out randomly from coop B.
Let Y be the 2 chickens that escape from coop A to coop B.
P(X=F) = P(X=F|Y=MM)P(Y=MM) + P(X=
University at Buffalo, Computer Science and Engineering
CSE 468/568: Robot Algorithms
Homework 3: Probabilistic Algorithms
Problem 1
You maintain two chicken coops in your garage. Coop A has ten male
University at Buffalo, Computer Science and Engineering
CSE 468/568: Robot Algorithms
Homework 1: Kinematics
Karthik Dantu
This is the rst assignment of the class and carries 5% of your total grade. I
CSE 568: Midterm
1
CSE 568 Midterm
Kinematics
I
2r
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30
2d
o
P
3d
2r
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Figure 1: Given robot
You are given a robot as shown in Figure 1 with dimensions as shown. We observe it
from an inertial frame
CSE 468/568: Lab 3
1
CSE 468/568 Lab 3: Grid Localization Based on
Real Data in ROS
The objective of this assignment is to make you familiar with Grid Localization which
is a variant of discrete Bayes
CSE 468/568: Robotics Algorithms
Legged Locomotion
Karthik Dantu
[email protected]
Some slides adopted from robotics courses at U. Freiburg, ETH, CMU, DIT, USC, and others
Administrivia
ROS on CSE m
Introduction to Robot Control
Karthik Dantu
CSE 468/568
Localization
Mapping
position
global map
Cognition
Path Planning
path
environmental model
local map
Perception
Mission
commands
Path
Execution
I
ROS %
Karthik Dantu
CSE 468/568:Robo:cs Algorithms
%: Introduc:on
Allows ROS nodes to
keep track of mul:ple
frames and
rela:onships between
the frames
Builds a tree structure
One node (fr
Range Sensing
Karthik Dantu
CSE 468/568:Robo;cs Algorithms
Range Sensors
Laser range nders give
depth informa;on
Data in polar coordinates
Angular resolu;on 0.25-1
degree
Depth range 5cm
CSE 468/568: Robotics Algorithms
ROS: Introduction
Karthik Dantu
[email protected]
Some slides adopted from Brown, UT-Austin, ros.org, and others
Robotics Research A Decade Ago
Only for advanced/gra
gia64369_ch08.qxd
9/21/05
4:26 PM
Page 255
8
Torque and Angular
Momentum
I
n gymnastics, the iron cross is
a notoriously difcult feat that
requires incredible strength.
Why does it require such great
Feature extraction: Corners and blobs
Why extract features?
Motivation: panorama stitching
We have two images how do we combine them?
Why extract features?
Motivation: panorama stitching
We have t
CSE 468/568: Robotics Algorithms
Notes: Planar Transformations
Feb 8, 2015
Lecturer: Karthik Dantu
1
Planar Rotation
Consider two coordinate systems Q = (X, Y ) and Q = (X , Y ), where Q is rotated by
Sensors 2014, 14, 17567-17585; doi:10.3390/s140917567
OPEN ACCESS
sensors
ISSN 1424-8220
www.mdpi.com/journal/sensors
Article
In-Flight Estimation of Center of Gravity Position Using
All-Accelerometer
CSE 468/568: Robotics Algorithms
Topic 2: Kinematics of Wheeled Robots
February 21, 2015
Lecturer: Karthik Dantu
1
Introduction
Kinematics is the branch of classical mechanics which describes the moti
CSE 468/568: Robotics Algorithms
Sensors
Karthik Dantu
[email protected]
Some slides adopted from robotics courses at Utah, MIT, ETH, CMU, DIT, USC, and others
Localization
Mapping
position
global ma
CSE 468/568: Robotics Algorithms
Wheeled and Aerial Locomotion
Karthik Dantu
[email protected]
Some slides adopted from robotics courses at U. Freiburg, ETH, CMU, DIT, USC, and others
Recap
Locomoti
University at Buffalo, Computer Science and Engineering
CSE 468/568: Robot Algorithms
Homework 1: Kinematics
Karthik Dantu
This is the rst assignment of the class and carries 5% of your total grade. I
CSE 468/568: Robotics Algorithms
Perception From Range Sensors
Karthik Dantu
[email protected]
Some slides adopted from robotics courses at Utah, MIT, ETH, CMU, DIT, USC, and others
Range Sensors
La
COS 495 - Lecture 14
Autonomous Robot Navigation
Instructor: Chris Clark
Semester: Fall 2011
1
Figures courtesy of Siegwart & Nourbakhsh
Control Structure
Prior Knowledge
Operator Commands
Localizatio
CSE 468/568: Robotics Algorithms
Image Processing I
Correlation
Karthik Dantu
[email protected]
Some slides adopted from robotics courses at Utah, MIT, ETH, CMU, DIT, USC, and others
Introduction
Fi