syllabus

subject to change!

session # date topic papers presenters and discussion leader

1 tue sep 5 introduction

E. Sklar and S. Parsons, Intro to Robotics lecture slides (4 slides per page).
G. A. Bekey, Autonomous Robots: From biological inspiration to implementation and control, MIT Press, 2005. chapter 1.
Parsons, Sklar

2 tue sep 12 sensing and vision

G. N. DeSouza and A. C. Kak, Vision for Mobile Robot Navigation: A Survey, IEEE Transactions on Pattern Analysis and Machine Intelligence, 24:2, 2002.
M. Jeungel, Using Layered Color Precision for a Self-Calibrating Vision System, 8th International RoboCup Symposium 2004, LNAI Volume 3276, Springer 2004.
Flyr, Sklar

3 tue sep 19 localization and mapping

D. Fox, S. Thrun, F. Dellaert, and W. Burgard, Particle filters for mobile robot localization, in A. Doucet, N. de Freitas and N. Gordon, eds., Sequential Monte Carlo Methods in Practice. Springer Verlag, New York, 2000.
S. Thrun, Robot mapping: a survey, in G. Lakemeyer and B. Nebel, eds., Exploring Artificial Intelligence in the New Millenium.
Ozgelen, Parsons

4 tue sep 26 path planning

L. E. Kavrati, P. Svestka, J-C. Latombe and M. H. Overmars, Probabilistic roadmaps for path planinng in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, 12(4), 566-580, 1996.
S. Koenig and M. Likhachev Real-time adaptive A*, Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan.
Y. Feng, Z. Zhu and J. Xiao, Heterogeneous Multi-Robot Localization in Unknown 3D Space, to be presented at the International Conference on Intelligent Robots and Systems (IROS) in October 2006.
Ozgelen, Carson, Feng, Sklar

tue oct 3 CUNY MONDAY

5 tue oct 10 DARPA grand challenge

S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffman, K. Lau, C. Oakley M Palatucci, V Pratt, P. Stang, S. Strohband, C. Dupont, L-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian and P. Mahoney, Stanley, the robot that won the DARPA grand challenge, Journal of Field Robotics, forthcoming.
A. Gutierrez, T. Galatai, J. P. Gonzalez, C Urmson and W. L. Whittaker, Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and detail paths, Tech Report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, 2005.
Carson, Parsons

6 tue oct 17 robotic soccer

M. Veloso, P. Stone, K. Han and S. Achim, The CMUnited-97 Small Robot Team, Proceedings of the RoboCup Symposium, 1997.
B. Argall, Y. Gu, B. Browning and M. Veloso, The First Segway Soccer Experience: Towards peer-to-peer human-robot teams, Technical Report CMU-CS-05-161, Carnegie Mellon University, 2005.
Adler, Kammet, Parsons

7 tue oct 24 coordination

T. Balch and R. Arkin, Motor-schema based formation control for multiagent robot teams, Proceedings on the First International Conference on Multiagent systems, 1995.
A. Stentz, M. B. Dias, R. M. Zlot, and N. Kalra, Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction, Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, 2004.
Diky, Alayev, Tang, Sklar

8 tue oct 31 biomimetic and cognitive robotics
educational robotics

Prof Frank Grasso, guest speaker
http://academic.brooklyn.cuny.edu/userhome/psych/fgrasso/index.htm
I. Nourbakhsh, E. Hamner, B. Dunlavey, D. Bernstein and K. Crowley, Educational Results of the Personal Exploration Rover Museum Exhibit, Proceedings of the International Conference on Robotics and Automation (ICRA), 2005.
optional reading:
E. Sklar, A. Eguchi and J. Johnson, RoboCupJunior: learning with educational robotics, Proceedings of RoboCup-2002: Robot Soccer World Cup VI, G. Kaminka, P. Lima and R. Rojas (eds.), 2002.
Grasso, Waxman, Sklar

9 tue nov 7 learning

N. Kohl and P. Stone. Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion, Proceedings of the IEEE International Conference on Robotics and Automation, May 2004.
K. Wolff and P. Nordin, An Evolutionary Based Approach for Control Programming of Humanoids, Proceedings of the Third IEEE-RAS International Conference on Humanoid Robots, Humanoids 2003.
W. Smart and L. Kaelbling, Effective Reinforcement Learning for Mobile Robots, Proceedings of the International Conference on Robotics and Automation (ICRA), 2002.
Alayev, Chowdury, Kammet, Parsons

10 tue nov 14 locomotion

Prof Ted Raphan, guest speaker
http://www.sci.brooklyn.cuny.edu/~raphan/
rescheduled from Oct 24:
C. V. Jones and M. Mataric, The Use of Internal State in Multi-Robot Coordination, Hawaii International Conference on Computer Sciences (HICCS-04), 2004.
rescheduled from Oct 31:
F. Martin and G. Pantazopoulos, Designing the Next-Generation Handy Board, Proceedings of the Spring 2004 AAAI Symposium, 2004.
optional reading:
C. Ridderstrom, Legged locomotion: Balance, control and tools - from equation to action, PhD Thesis, Royal Institute of Technology, Stockholm.
You only need to look at the part entitled "A study of legged locomotion control", but in case you're interested, the whole thesis is available here.
optional reading:
M. Raibert, Legged Robots, Communications of the ACM, Volume 29, Number 6, June 1986.
Raphan, Tang, Azhar, Parsons

11 tue nov 21 human-robot interaction

H. A. Yanco and J. Drury. Classifying Human-Robot Interaction: An Updated Taxonomy, Proceedings of the IEEE Conference on Systems, Man and Cybernetics, 2004.
M. Desai and H. A. Yanco, Blending Human and Robot Inputs for Sliding Scale Autonomy, Proceedings of the 14th IEEE International Workshop on Robot and Human Interactive Communication, August 2005.
M. Skubic, D. Perzanowski, A. Schultz, and W. Adams, Using Spatial Language in a Human-Robot Dialog, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA), 2002.
Waxman, Moganti, Sklar

12 tue nov 28 rescue robots

H. A. Yanco, M. Baker, R. Casey, B. Keyes, P. Thoren, J. L. Drury, D. Few, C. Nielsen and D. Bruemmer, Analysis of Human-Robot Interaction for Urban Search and Rescue, Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, 2006.
G. Kantor, S. Singh, R. Peterson, D. Rus, A. K. Das, V. Kumar, G. A. S. Pereira, and J. Spletzer, Distributed search and rescue with robot and sensor teams, Field and Service Robotics: Recent Advances in Research and Applications (H. Asama, S. Yuta, S. Thrun, and E. Prassler, eds.), STAR, vol. 24, pp. 529-538, Springer-Verlag, 2006.
J. Casper and R. R. Murphy, Workflow Study on Human-Robot Interaction in USAR, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2002.
Adler, Moganti, Feng, Parsons

13 tue dec 5 evolutionary robotics

R. A. Watson, S. G. Ficici and J. B. Pollack, Embodied Evolution: Embodying an Evolutionary Algorithm in a Population of Robots, Proceedings of the 1999 Congress on Evolutionary Computation, 1999.
R. Bianco and S. Nolfi, Toward open-ended evolutionary robotics: evolving elementary robotic units able to self-assemble and self-reproduce, Connection Science, 4, 2004.
V. Zykov, E. Mytilinaios, B. Adams and H. Lipson, Self-reproducing machines, Nature, volume 435, number 7038, 2005.
Diky, Chowdury, Sklar

14 tue dec 12 Brooklyn College Robotics Showcase
1.30-3.30pm
Room 233 Roosevelt Hall
directions and information

session #	date	topic	papers	presenters and discussion leader
1	tue sep 5	introduction	E. Sklar and S. Parsons, Intro to Robotics lecture slides (4 slides per page). G. A. Bekey, Autonomous Robots: From biological inspiration to implementation and control, MIT Press, 2005. chapter 1.	Parsons, Sklar
2	tue sep 12	sensing and vision	G. N. DeSouza and A. C. Kak, Vision for Mobile Robot Navigation: A Survey, IEEE Transactions on Pattern Analysis and Machine Intelligence, 24:2, 2002. M. Jeungel, Using Layered Color Precision for a Self-Calibrating Vision System, 8th International RoboCup Symposium 2004, LNAI Volume 3276, Springer 2004.	Flyr, Sklar
3	tue sep 19	localization and mapping	D. Fox, S. Thrun, F. Dellaert, and W. Burgard, Particle filters for mobile robot localization, in A. Doucet, N. de Freitas and N. Gordon, eds., Sequential Monte Carlo Methods in Practice. Springer Verlag, New York, 2000. S. Thrun, Robot mapping: a survey, in G. Lakemeyer and B. Nebel, eds., Exploring Artificial Intelligence in the New Millenium.	Ozgelen, Parsons
4	tue sep 26	path planning	L. E. Kavrati, P. Svestka, J-C. Latombe and M. H. Overmars, Probabilistic roadmaps for path planinng in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, 12(4), 566-580, 1996. S. Koenig and M. Likhachev Real-time adaptive A*, Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan. Y. Feng, Z. Zhu and J. Xiao, Heterogeneous Multi-Robot Localization in Unknown 3D Space, to be presented at the International Conference on Intelligent Robots and Systems (IROS) in October 2006.	Ozgelen, Carson, Feng, Sklar
	tue oct 3	CUNY MONDAY
5	tue oct 10	DARPA grand challenge	S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffman, K. Lau, C. Oakley M Palatucci, V Pratt, P. Stang, S. Strohband, C. Dupont, L-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian and P. Mahoney, Stanley, the robot that won the DARPA grand challenge, Journal of Field Robotics, forthcoming. A. Gutierrez, T. Galatai, J. P. Gonzalez, C Urmson and W. L. Whittaker, Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and detail paths, Tech Report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, 2005.	Carson, Parsons
6	tue oct 17	robotic soccer	M. Veloso, P. Stone, K. Han and S. Achim, The CMUnited-97 Small Robot Team, Proceedings of the RoboCup Symposium, 1997. B. Argall, Y. Gu, B. Browning and M. Veloso, The First Segway Soccer Experience: Towards peer-to-peer human-robot teams, Technical Report CMU-CS-05-161, Carnegie Mellon University, 2005.	Adler, Kammet, Parsons
7	tue oct 24	coordination	T. Balch and R. Arkin, Motor-schema based formation control for multiagent robot teams, Proceedings on the First International Conference on Multiagent systems, 1995. A. Stentz, M. B. Dias, R. M. Zlot, and N. Kalra, Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction, Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, 2004.	Diky, Alayev, Tang, Sklar
8	tue oct 31	biomimetic and cognitive robotics educational robotics	Prof Frank Grasso, guest speaker http://academic.brooklyn.cuny.edu/userhome/psych/fgrasso/index.htm I. Nourbakhsh, E. Hamner, B. Dunlavey, D. Bernstein and K. Crowley, Educational Results of the Personal Exploration Rover Museum Exhibit, Proceedings of the International Conference on Robotics and Automation (ICRA), 2005. optional reading: E. Sklar, A. Eguchi and J. Johnson, RoboCupJunior: learning with educational robotics, Proceedings of RoboCup-2002: Robot Soccer World Cup VI, G. Kaminka, P. Lima and R. Rojas (eds.), 2002.	Grasso, Waxman, Sklar
9	tue nov 7	learning	N. Kohl and P. Stone. Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion, Proceedings of the IEEE International Conference on Robotics and Automation, May 2004. K. Wolff and P. Nordin, An Evolutionary Based Approach for Control Programming of Humanoids, Proceedings of the Third IEEE-RAS International Conference on Humanoid Robots, Humanoids 2003. W. Smart and L. Kaelbling, Effective Reinforcement Learning for Mobile Robots, Proceedings of the International Conference on Robotics and Automation (ICRA), 2002.	Alayev, Chowdury, Kammet, Parsons
10	tue nov 14	locomotion	Prof Ted Raphan, guest speaker http://www.sci.brooklyn.cuny.edu/~raphan/ rescheduled from Oct 24: C. V. Jones and M. Mataric, The Use of Internal State in Multi-Robot Coordination, Hawaii International Conference on Computer Sciences (HICCS-04), 2004. rescheduled from Oct 31: F. Martin and G. Pantazopoulos, Designing the Next-Generation Handy Board, Proceedings of the Spring 2004 AAAI Symposium, 2004. optional reading: C. Ridderstrom, Legged locomotion: Balance, control and tools - from equation to action, PhD Thesis, Royal Institute of Technology, Stockholm. You only need to look at the part entitled "A study of legged locomotion control", but in case you're interested, the whole thesis is available here. optional reading: M. Raibert, Legged Robots, Communications of the ACM, Volume 29, Number 6, June 1986.	Raphan, Tang, Azhar, Parsons
11	tue nov 21	human-robot interaction	H. A. Yanco and J. Drury. Classifying Human-Robot Interaction: An Updated Taxonomy, Proceedings of the IEEE Conference on Systems, Man and Cybernetics, 2004. M. Desai and H. A. Yanco, Blending Human and Robot Inputs for Sliding Scale Autonomy, Proceedings of the 14th IEEE International Workshop on Robot and Human Interactive Communication, August 2005. M. Skubic, D. Perzanowski, A. Schultz, and W. Adams, Using Spatial Language in a Human-Robot Dialog, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA), 2002.	Waxman, Moganti, Sklar
12	tue nov 28	rescue robots	H. A. Yanco, M. Baker, R. Casey, B. Keyes, P. Thoren, J. L. Drury, D. Few, C. Nielsen and D. Bruemmer, Analysis of Human-Robot Interaction for Urban Search and Rescue, Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, 2006. G. Kantor, S. Singh, R. Peterson, D. Rus, A. K. Das, V. Kumar, G. A. S. Pereira, and J. Spletzer, Distributed search and rescue with robot and sensor teams, Field and Service Robotics: Recent Advances in Research and Applications (H. Asama, S. Yuta, S. Thrun, and E. Prassler, eds.), STAR, vol. 24, pp. 529-538, Springer-Verlag, 2006. J. Casper and R. R. Murphy, Workflow Study on Human-Robot Interaction in USAR, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2002.	Adler, Moganti, Feng, Parsons
13	tue dec 5	evolutionary robotics	R. A. Watson, S. G. Ficici and J. B. Pollack, Embodied Evolution: Embodying an Evolutionary Algorithm in a Population of Robots, Proceedings of the 1999 Congress on Evolutionary Computation, 1999. R. Bianco and S. Nolfi, Toward open-ended evolutionary robotics: evolving elementary robotic units able to self-assemble and self-reproduce, Connection Science, 4, 2004. V. Zykov, E. Mytilinaios, B. Adams and H. Lipson, Self-reproducing machines, Nature, volume 435, number 7038, 2005.	Diky, Chowdury, Sklar
14	tue dec 12	Brooklyn College Robotics Showcase 1.30-3.30pm Room 233 Roosevelt Hall directions and information