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: firstname.lastname@example.org
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%
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.