ENSC-887
Computational Robotics

• Description
• Detailed course outline

Course Material

• For Lecture 2:
  • O-notation
  • NP-completeness
  • Ruler folding paper
  • Canny paper
• For Lecture 3:
  • Appendix A Latombe Basic Math
  • Appendix B and C Choset set topology
• For Lecture 4:
  • Manifolds Latombe
  • Manifolds Choset
  • Computational Geometry Notions
• For Lecture 5:
  • Basic kinematics: rigid body motions, representation of orientations
  • Basic kinematics: rotations, linear and angular velocity and Jacobians
  • Basic kinematics: rotations, transformations, linear and angular velocities, Jacobians. Chapters 2 and 5 from Craig.
  • Polygonal and Polyhedral Representation: 3 Chapters from Mantyla. Appendix F.1 from Choset

Lecture Notes

2012 Offering

2010 Offering

Assignments

• Assignment 1
• Assignment 2

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