Robotics 2015 topics The best guide is this year's lecture notes and practical sheets. The Robotics C333 exam papers from the past five years, 2010--2014, are a good guide to the typical style of questions and much of the content was similar to this year's course, though note that there are some topics on those exams (e.g. TR Programming) which we did not cover this year and are not examinable; and there are some topics we covered this year (e.g. PID control) for the first time which are. Also any questions this year which ask you to write pseudocode will use Python. Main topics: 2D coordinate frames and integrating motion for pure translation and rotation Planning robot movements between waypoints Uncertainty in motion Calibrating motion PID control Differential drive robot, movement geometry Typical robot sensors Reactive behaviours with bump sensors Closed loop control using external sensors Calibrating a sensor Drawing and understanding sensor likelihood functions Probabilistic methodology, Bayes' rule; simple discrete inference as I showed you in the lecture Monte Carlo Localisation: all steps of the algorithm Continuous vs. global localisation Global localisation by place recognition with a spinning sonar Probabilistic occupancy mapping using sonar Conceptual understanding of SLAM, large scale mapping, metric-topological SLAM and graph relaxation Essentials of Python programming for robotics Not examinable this year (but have appeared on some older papers): TR Programs, semantics and examples Tricycle robot Computer vision, camera geometry Vector fields method