The goal of this course is to make students understand: (i) the different components of a mobile robot; (ii) the principles behind building a mobile robot; and (iii) the difficulties involved in developing the control for an autonomous robot that needs to interact in an undoctered environment.
Students will be required to first build a mobile robot with Legos, simple sensors, motors and program them in the Interactive C language. After that they will be required to program a pre-built mobile robot so that it can autonomously navigate in an office environment avoiding static and moving obstacles.
Instructor: Professor Chitta Baral
Telephone: 480-727-6047 Email: chitta@asu.edu
Experience
in programming in C.
Consult the instructor for any question concerning prerequisites.
1.
Sensors
and actuators in a mobile robot.
2.
The
subsumption architecture.
3.
Obstacle
avoidance, positioning and navigation in an office environment.
4.
Dynamic
and reactive planning.
5.
Control
arcitecture for autonomous mobile robots.
6.
Reasoning
about knowledge and planning in presence of incompleteness.
7.
Interleaving
planning and execution.
8.
MDP
and POMDP.
Evaluation methods: Homework –20%, Project & Presentation 60%, Exam 20%
·
Mobile
Robots: Inspiration to Implementation.
by Joseph L. Jones and Anita M. Flynn, A K. Peters publishers.
·
Artificial
Intelligence and Mobile Robots.
By Kortencamp, Bonasso and Murphy. MIT Press.
· Current literature.