Lecture Notes

1 Overview

Welcome, Staff, Logistics, Course Policies/Philosophy, Contest Preview: The Game, The Kit

Orc API and maslab.jar, OrcPad, PegBot, Soldering Tutorial
Overview (PDF)
2 Mechanical

Sensors and Cables
Mechanical (PDF)

Sensors and Cables (PDF)
3 Software Engineering

On MIT Server and your robot (make, Ant, CVS), Design Principles, Threading in Java® (more mechanics than theory), Pitfalls


Quick Review: Colors (HSV, Maslab colors, this year), Blue line (motivation), Determining color (thresholds on HSV, hysteresis, region support), See the tutorial!

Feature Detection: Methods (Template matching, Region growing, Clustering), Maslab features (What they are, Why they're useful) How to locate them (corner detector, symbol decoder): Possible algorithm, Describe feature detection lab
Software Engineering (PDF)

Vision (PDF)
4 Mapping

Coordinate frames (image->robot->world), Image formation, ranging (image->robot, relative orientation), Odometry (robot->world, absolute orientation), Correspondence problem (we've solved it for you), Modeling uncertainty, Dealing with ambiguity, Possible algorithm
Mapping (PDF)
5 Control


Simple Feedback (low-level control): Example: Korea-era smart bomb, Bang-bang control, Proportional control

State Machine (high-level control): Abstract definition and examples, Used for control of robot (6.004-style maze example, Brooks-style subsumption architecture), In Java® with threading: Leverage info covered in previous lecture, Full example, make code available
Control (PDF)
6 Advanced Vision

Clustering, Hough Transform, Stereo and Optical Flow, Statistical Models, Dealing with Noise, Performance

Advanced Control

PID, Kalman, Whatever you want (maybe some high-level stuff?)

Activity: Mapping activity, purely software activity
Advanced Vision (PDF)
7 Design Review  
8 Activity: Work on Checkpoint 2  
9 Activity: Checkpoint 2: Score a Point  
10 Activity: Mock Contest 1  
11 Programming 27 Robots: Distributed Algorithms for Robot Swarms and Engineering Creativity: Exercises for your Right Brain  
12 Activity: Mock Contest 2  
13 Learning in Robots  
14 Activity: Impounding  
15 Activity: Contest Day