Lecture times: MW 4:00-5:15PM
Laboratory: TBD, recommended Saturdays 9:00AM-Noon
Place: Faner 2127
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Course Description:
This course is a comprehensive introduction to modern robotics with an emphasis on autonomous mobile robotics. Fundamentals of sensors and actuators as well as algorithms for top level control are discussed. Multi-robotics and human-robot interaction issues are explored. A term project is an integral part of this course. Class lectures will closely track outline of the course textbook. Lectures and exams are theoretical. Class project is hands on, pragmatic and research oriented.
Robot kits: In Lieu of textbooks, each student will contribute nominal funds (about $120) for purchasing shared-use robot kits and supplies, I recommend Vex kits.
Committees: Several working committees will be set up to determine task details including: table construction, sponsorship, competition readiness, logistics, parts, procurement and budgeting.
Laboratory and Project:
A hands on laboratory environment will be used to build robots in teams in preparation for a national competition. I have selected IEEE region 5 national robotic competition; See competition rules.
Pre-requisites:
CS 330 with a grade of C or better or graduate standing. Seek permission of instructor if you need clarifications. Please Be aware that this is a programming intensive and a hands on course, requiring basic C programming skills.
What this course is NOT: a lower division CS course.
Graduate and undergraduate students are welcome.
Objectives:
You are expected to know or learn programming language on your own.
Grading: Term project at 40%, and three exams worth 20% each, class participation and attendance will help determine borderline grades.
Class Project: Hunter-Gatherer: Teams of up to 5 students will design and build an autonomous robot that can detect and transport a container from 4 corners of a color-coded table to the assigned square area in the center of the table. The robot must visit all 4 corners and transport all 4 cargo containers to their correct positions with a parametric order of visitation.
50 points are divided into (a) 15 points for the design merit, (b) 15 points for project implementation, (c) 10 points for class presentation/demonstration, and (d) 10 points for final report.
Week of January 12, 2009 | 1st wek of classes | Locomotion, maps, affect, control | Comptition rules explainied, kits ordered |
---|---|---|---|
Week of January 19, 2009 | Locomotion, maps, affect, potential fields, control | Robot building and programming | |
Week of February 9, 2009 | Exam I | Fuzzy logic, | Robot programming and testing |
March 11-14, 2008 | No classes (enjoy your semester break) | ||
March 16, 2009 | Exam II | Take home, open source, application of articles ( 7-19) | Robot programming and testing |
April 4 , 2009 | |||
April 13, 2009 | Trip to Texas | Decision theory, filters | Robot programming and testing |
... | Decision theory, filters | Robot programming and testing | |
May xx, 2009 | Final Exam |
Recommended textbook:
Howard Choset, et. al. 2005. Principles of Robot Motion: Theory, Algorithms, and Implementations, The MIT Press, ISBN-10: 0262033275.
Required, Supplemental Reading:
The following links and papers are limited to education purposes by our local students. All rights remain with original sources. This list is updated as needed.
1. Principles of Robot Locomotion
2. Howard Choset's textbook Chapter 5 slides
3. roadmap slides
4. Howard Choset's textbook Chapter 2 slides (Bug Algorithms)
5. Potential Fields Tutorial
6. Rodney A. Brooks' original subsumption paper
7. The Subsumption Architecture
8. Affect based Computing
9. Robin Murphy's Emotion-based Control
10. Bayesian Filters for Location Estimation
11. Jong and Stone paper: RL and MDP
12. Henry Hexmoor's High Level Control Loop
13. Hagit Shatkay on HMMs
14. Andrew Moore's HMM Tutorial Slides
15. POMDP FAQ
16. A Fuzzy logic based Navigation System for a Mobile Robot
17. Hexmoor's Fuzzy logic
18. Coverage and Search
19. Brick and Mortar
17. The Scalar Kalman Filter
18. Multirobotics
19. Diana Spears' Swarms paper
20. Alife
Reference Sources:
1. S. Thrun, W. Burgard, D. Fox, 2005. Probabilistic Robotics, MIT press
2. S. LaValle, 2006. Planning Algorithms, Cambridge University Press.
3. R. Arkin, 1998. Behavior-Based Robotics, MIT press
4. G. Bekey, 2005. Autonomous Robots, MIT press
5. G. Dudek, 2005. Computational Principles of Mobile Robotics, Cambridge university press
6. Jones, Flynn, 1998. Mobile Robots: Inspiration to Implementation, AK Peters.
Last updated: April 8, 2009