# administrivia ## **Design of Autonomous Systems** ### csci 6907/4907-Section 86 ### Prof. **Sibin Mohan** --- ## class schedule ||| |--------|--------| |days | <scb>tuesdays</scb> and <scb>thursdays</scb> | |times | <scb>12:45 -- 2:00 PM</scb> | |location | <scb>TOMPKINS (TOMP) 310</scb> | || -v- ## "discussion" sections ||| |--------|--------| |tuesdays| <scb>2:15 -- 3:15 PM</scb> | |thursdays| <scb>11:00 AM -- 12:00 PM</scb> | |location| <scb>SEH 4040</scb>| || -v- ## "discussion" sections ||| |--------|--------| |tuesdays| <scb>2:15 -- 3:15 PM</scb> | |thursdays| <scb>11:00 AM -- 12:00 PM</scb> | |location| <scb>SEH 4040</scb>| || - these are **not** mandatory -v- ## "discussion" sections ||| |--------|--------| |tuesdays| <scb>2:15 -- 3:15 PM</scb> | |thursdays| <scb>11:00 AM -- 12:00 PM</scb> | |location| <scb>SEH 4040</scb>| || - these are **not** mandatory - you will learn useful concepts -v- ## "discussion" sections ||| |--------|--------| |tuesdays| <scb>2:15 -- 3:15 PM</scb> | |thursdays| <scb>11:00 AM -- 12:00 PM</scb> | |location| <scb>SEH 4040</scb>| || - these are **not** mandatory - you will learn useful concepts - hands-on experience with hardware - with assistance from teaching staff -v- ## "discussion" sections ||| |--------|--------| |tuesdays| <scb>2:15 -- 3:15 PM</scb> | |thursdays| <scb>11:00 AM -- 12:00 PM</scb> | |location| <scb>SEH 4040</scb>| || - these are **not** mandatory - you will learn useful concepts - hands-on experience with hardware - with assistance from teaching staff - can work on small assignments+extra credit --- ## course staff -v- ## instructor ||| |------------------------------------------------|--------| | **Prof. Sibin Mohan** <br> * associate professor <br> * computer science <br> * security, systems <br> * photography, travel <br> | <img src="./img/staff/sibin_rover.png" height="275">| || **sibin.mohan\@gwu.edu** -v- ## teaching assistants |||| |-----|-----|-----| |<center><img src="./img/staff/indu.jpg" height="275"></center> | <center><img src="./img/staff/derek.jpg" height="275"></center> | <center><img src="./img/staff/tejaaswini.jpeg" height="275"></center> | |<center><b>Indu</b></center> | <center><b>Derek</b></center> | <center><b>Tejaaswini</b></center> | |<center>Grad TA</center> | <center>Undergrad TA</center> | <center>Grader</center> | |<center><font size="5vw"> **indumathi.madhu\@gwu.edu**</font></center>| <center><font size="5vw">**dchen36\@gwu.edu**</font></center>| <center><font size="5vw">**tejaaswini.narendran\@gwu.edu**</font></center>| || --- ## office hours |person|day of week|time(s)| |------|-----------|-------| |Sibin |Thursdays |2:30 -- 4:00 PM| |TAs |Multiple | see <b><a href="https://calendar.google.com/calendar/u/3?cid=Y182YWM3YmU0NGM5YjcyNjBmYTExYTYzMTk1MjI1N2Y5YjgwYmIxNDA2YmIwZTczNWFkNmMwZDZkZmZiMWMxZDRhQGdyb3VwLmNhbGVuZGFyLmdvb2dsZS5jb20">online calendar</a></b>| || -v- ## communication - **discord** - email for sickness/absence/_etc._ -v- <center><div class="center" data-id="box" style="height: 75px; width: 600px; background: orange;"> <b>respect</b> everyone's time! </div></center> -v- ### office hours **etiquette** - read: [**<scb>how to prepare for office hours</scb>**](https://www2.seas.gwu.edu/~gparmer/resources/2021-09-20-Office-Hours-HOWTO.html)! - be respectful → to TA and other students - **come prepared!** -v- ### discord **ettiquette** * **do not DM the teaching staff (on discord)** *<!-- .element: class="fragment" data-fragment-index="1" --> * no guarantee for immediate response <!-- .element: class="fragment" data-fragment-index="2" --> * response times → (approx.) 24 hours <!-- .element: class="fragment" data-fragment-index="3" --> [\* send me DMs if critical; absences via email only]<!-- .element: class="fragment" data-fragment-index="4" --> --- ## course content --- ## course content - design and implementation of **autonomous systems** --- ## course content - design and implementation of **autonomous systems** - this is a "**full stack**" course --- ## course content - design and implementation of **autonomous systems** - this is a "**full stack**" course ||| |-------------|--------------| | **low** level | sensing/actuation/embedded design/<br>real-time scheduling+os | --- ## course content - design and implementation of **autonomous systems** - this is a "**full stack**" course ||| |-------------|--------------| | **low** level | sensing/actuation/embedded design/<br>real-time scheduling+os | | **mid** level | control algorithms, ekf, sensor fusion | --- ## course content - design and implementation of **autonomous systems** - this is a "**full stack**" course ||| |-------------|--------------| | **low** level | sensing/actuation/embedded design/<br>real-time scheduling+os | | **mid** level | control algorithms, ekf, sensor fusion | | **higher** level | slam, path planning, object detection <br> object avoidance/waypoints | --- ## course content - design and implementation of **autonomous systems** - this is a "**full stack**" course ||| |-------------|--------------| | **low** level | sensing/actuation/embedded design/<br>real-time scheduling+os | | **mid** level | control algorithms, ekf, sensor fusion | | **higher** level | slam, path planning, object detection <br> object avoidance/waypoints | | **abstract** | safety, security, verification | || --- ## course structure <img src="./img/course_structure.png" height="500"> --- - **lectures** → concepts, deep dives into topics - "**discussion**" sections → exploration of singular topics - _e.g.,_ how to connect to, and program, a _raspberry pi_ - **machine problems** (mps) → hands-on exercises - on hardware/software --- well-defined learning sequence: <br> ### lectures → discussions → mp --- ### hands-on assignments using hardware platforms <br> <div class="multicolumn"> <div> <img src="./img/hw/pi.png" height="300"> raspberry pi </div> <div> <img src="./img/hw/navio2.png" height="300"><br> navio2 </div> <div> <img src="./img/hw/rover.png" height="300"> rovers </div> </div> --- ## grading rubric | Component | % Grade | |------------|---------| | mp 1: detecting motions from sensors | 15 % | | mp 2: real-time scheduling | 15 % | | mp 3: ekf | 20 % | | mp 4: rover programming and control | 25 % | | discussion | 15 % | | class participation | 10 % | || -v- ## grading rubric | Component | % Grade | |------------|---------| | mp 1: detecting motions from sensors | 15 % | | mp 2: real-time scheduling | 15 % | | mp 3: ekf | 20 % | | mp 4: rover programming and control | 25 % | | discussion | 15 % | | class participation | 10 % | || ### mp4 includes a leaderboard-style race → extra credit -v- ### homeworks grading - script-based grading <!-- .element: class="fragment" data-fragment-index="1" --> - negative points → not following exact instructions <!-- .element: class="fragment" data-fragment-index="3" --> -v- ### homeworks grading (contd.) - you may be **randomly** chosen for → **oral q&a** - failure → loss of homework grade! <!-- .element: class="fragment" data-fragment-index="1" --> --- ## academic honesty --- ## academic honesty | don't | | |---------|--------| | copy/share code | | | look at others' code! | | || --- ## academic honesty | don't | do | |---------|--------| | copy/share code | discuss with others | | look at others' code! | ask prof/ta | || --- ## academic honesty | don't | do | |---------|--------| | copy/share code | discuss with others | | look at others' code! | ask prof/ta | || <br> <center><div class="center" data-id="box" style="height: 75px; width: 750px; background: orange;"> <b>do not</b> use chatgpt, copilot, etc.! </div></center> --- ## violations <font style="background-color:orange;"> <b>will be reported</b> </font> to the academic integrity office! --- ## course resources | resource | use | |---------|--------| | course **website** | [**link**](https://autonomy-course.github.io) | | **discord** server | discussions | | **blackboard** | announcemnts/grades | | **github** | homework assignments | ||