http://www.brown-robotics.org/cs148/ 2012-05-19T17:23:29+03:00 http://www.brown-robotics.org/cs148/ http://www.brown-robotics.org/cs148/lib/tpl/A_Centered_Perspective/images/favicon.ico text/html 2011-10-03T23:03:23+03:00 http://www.brown-robotics.org/cs148/doku.php?id=buggin_out&rev=1317672203&do=diff Introduction In this assignment you will develop a ROS package for navigating to a goal location using the “Bug2” planar navigation algorithm with an m-line simplification. The task will involve following a path, defined by a piece of tape on the ground, while navigating around obstacles which block the path. text/html 2011-09-09T17:33:07+03:00 http://www.brown-robotics.org/cs148/doku.php?id=calendar&rev=1315578787&do=diff <iframe src=“<http://www.google.com/calendar/embed?src=brown.edu_po13php5jbrdtk842bah795ud8%40group.calendar.google.com&ctz=America/New_York>” style=“border: 0” width=“800” height=“600” frameborder=“0” scrolling=“no”></iframe> text/html 2011-09-09T17:57:42+03:00 http://www.brown-robotics.org/cs148/doku.php?id=collaboration_policy&rev=1315580262&do=diff Fall 2011 Please read, sign, and return this document to a TA either after class or during TA hours. You will not receive credit for assignments until you return this document. This policy covers all course material and assignments unless otherwise stated. Course material and Turtlebot/ROS information and documentation may be discussed with anyone. Course material does not include assignment handouts. Assignments may be discussed with the other cs148 students outside of your project group. D… text/html 2011-11-02T18:25:25+03:00 http://www.brown-robotics.org/cs148/doku.php?id=course_staff&rev=1320251125&do=diff Instructor Chad Jenkins (cjenkins) * Hours by appointment, CIT 327 Grad TA Brian Thomas (brian) * Hours: W 4:30pm-6:30pm, CIT 404 * W Nov. 9: moved to R Nov. 10, 6pm-8pm * W Oct. 19: 4:30pm-6:30pm * W Oct. 12: 2:30pm-4:30pm Head TA Kayle Gishen (kvgishen) text/html 2011-09-14T18:00:02+03:00 http://www.brown-robotics.org/cs148/doku.php?id=enclosure_escape&rev=1316012402&do=diff [Toy robot finding its way] Introduction This project is structured to acquaint you with the basics of writing robot controllers using ROS (the Robot Operating System). This introductory project is in the context of building an random traversal robot controller to “escape” an arbitrary planar environment. ROS runs onboard a robot (or any computing device) and provides a software interface to the robot hardware, such as sensors and actuators, over an IP network. Similar to a hardware abstrac… text/html 2011-09-12T21:25:44+03:00 http://www.brown-robotics.org/cs148/doku.php?id=introduction&rev=1315851944&do=diff CS 148 is an introduction to core topics in developing software systems for autonomous robots. This course focuses on the development of “brains for robots”. That is, given a robot as a machine with sensing, actuation, and computation, how do we develop programs that allow the robot to function autonomously? Such programs involve the robot's perception of its world, decision making towards some objective, and transforming decided actions into motor commands. We answer this question through a… text/html 2011-12-02T01:11:00+03:00 http://www.brown-robotics.org/cs148/doku.php?id=inverse_kinematics&rev=1322781060&do=diff The Canadarm2 on the International Space Station during the STS-114 space shuttle mission. Robotic arms like the Canadarm2 use inverse kinematics to position its endeffector at a specific location. Introduction This assignment is intended to let you experiment with inverse kinematics using MATLAB simulations. text/html 2011-09-09T17:08:29+03:00 http://www.brown-robotics.org/cs148/doku.php?id=misc&rev=1315577309&do=diff Robot Soccer !!remove 550px|center|AIBOs robot dogs playing soccer during RoboCup competition. CS148 projects will center around developing controllers to play robot soccer. Robot soccer has been an active topic of research for over a decade. [<http://www.robocup.org/> RoboCup] is the worldwide effort to advance the state of the art in robot soccer through yearly competitions. Paraphrasing [<http://en.wikipedia.org/wiki/Hiroaki_Kitano> Hiroaki Kitano], the RoboCup goal is to field a team of … text/html 2011-09-24T17:28:37+03:00 http://www.brown-robotics.org/cs148/doku.php?id=object_seeking&rev=1316874517&do=diff Introduction In this assignment, you will develop a ROS package for perceiving 2 types of objects: (1) objects of a solid color and (2) objects labelled with an augmented reality (AR) tag. Your controller will drive the robot to move between these objects. text/html 2011-11-01T23:27:09+03:00 http://www.brown-robotics.org/cs148/doku.php?id=path_planning&rev=1320182829&do=diff Introduction This two-part assignment is intended to gain familiarity with using path planning for robot navigation, especially the challenges for executing planned paths with partial observability and imperfect actuation. Path planning is the problem of determining what route a robot should take to get from its current position to a destination position, given a map of the surrounding environment. In this assignment, you will design your own wavefront path planner for a static map by replaci… text/html 2011-09-09T18:55:48+03:00 http://www.brown-robotics.org/cs148/doku.php?id=previous_courses&rev=1315583748&do=diff * 1997 (Dean) * 1998 (Kaelbling) * 1999 (Smart) * 2001 (Dean) * 2003 (Charniak) * Spring 2004 (Charniak) * Fall 2004 (Jenkins) * 2005 (Jenkins) * 2006 (Jenkins) * Fall 2007 (Jenkins) * Spring 2009 (Jenkins) * Fall 2009 (Jenkins) * 2010 (Jenkins) text/html 2011-09-12T19:50:00+03:00 http://www.brown-robotics.org/cs148/doku.php?id=repository_setup&rev=1315846200&do=diff Git Once per user, per computer: Name setup git config --global user.name "[Firstname] [Lastname]" git config --global user.email [your_address@cs.brown.edu] Once: Initial repository setup Make sure to fill in [team]. For us, they're all values of typefaces, such as helvetica, georgia, etc. text/html 2011-10-12T16:22:03+03:00 http://www.brown-robotics.org/cs148/doku.php?id=run_slam&rev=1318425723&do=diff CS 148 Project 4: Run n' SLAM Introduction Simultaneous localization and mapping (SLAM) is the problem of having a robot simultaneously estimating a map of an unknown environment and tracking its location in the constructed map. In its general form, SLAM assumes the robot has no a priori knowledge of the environment and is applicable to many forms of moving sensors (on robots, vehicles, mobile devices, etc.). text/html 2011-09-09T18:26:11+03:00 http://www.brown-robotics.org/cs148/doku.php?id=security_policy&rev=1315581971&do=diff Fall 2011 Please read, sign, and return this document to a TA either after class or during TA hours. You will not be allowed to reserve time on a robot or have your assignments graded until you sign and return this document. This policy establishes an agreement between you and the Brown University Computer Science Department (hereafter referred to as Brown). For the purposes of this course, you may use one or more Brown-owned Turtlebot robot devices and have access to the Brown Roomba Lab (CI… text/html 2011-12-01T06:19:25+03:00 http://www.brown-robotics.org/cs148/doku.php?id=sidebar&rev=1322713165&do=diff General * Introduction * Mailing list * Calendar * Staff/Hours * Collaboration Policy * Security Policy Projects * Enclosure Escape * Object Seeking * Buggin' Out * Run n' SLAM * Path Planning * Subsumption * Inverse Kinematics text/html 2011-09-19T17:37:13+03:00 http://www.brown-robotics.org/cs148/doku.php?id=software_environment_setup&rev=1316443033&do=diff ROS Base First, install the base of ROS by following Willow Garage's instructions. The robots we will be using this semester have the following ROS stacks (as Ubuntu/Debian packages) installed: ros-diamondback-brown-perception ros-diamondback-brown-remotelab ros-diamondback-common ros-diamondback-common-msgs ros-diamondback-control ros-diamondback-diagnostics ros-diamondback-driver-common ros-diamondback-executive-smach ros-diamondback-geometry ros-diamondback-image-common ros-diamondback-imag… text/html 2011-09-02T21:31:37+03:00 http://www.brown-robotics.org/cs148/doku.php?id=start&rev=1314988297&do=diff text/html 2011-11-21T22:18:45+03:00 http://www.brown-robotics.org/cs148/doku.php?id=subsumption&rev=1321906725&do=diff Introduction In this assignment, you will develop a ROS package for reactive robot soccer control using the Subsumption architecture. You will evaluate your client through basic skills challenges such as navigating to a ball and competition against other groups. text/html 2011-09-14T17:58:39+03:00 http://www.brown-robotics.org/cs148/doku.php?id=turtlebot_hardware_setup&rev=1316012319&do=diff Bringup When you want to use a Turtlebot: * Log in to the Turtlebot laptop. * Turn on the robot base. (The battery should be fresh, but swap it out if not. Please charge dead batteries!) * Start ROS's Turtlebot stack: roslaunch [robot_name].launch * Launch your code from here! Good luck!