Mobile Robotics
Professor: VLADIMIR ESTIVILL-CASTRO
Description
Introduction to mobile robotics covering practical and theoretical aspects. Course will involve basic notions of robot locomotion, perception, localization, and action; robot architectures, and projects on real robots.
Contents
- Introduction: problem statements, typical applications.
- Locomotion with legs and wheels
- Mobile Robots Kinematics and motion control
- Perception 1: Sensors
- Perception 2: Uncertainties, Line Features
- Perception 3: Vision
- Localization 1: Introduction and odometry error model
- Localization 2: Probabilistic map based localizaation and Markov localization
- Localization 3: Kalman filter localization
- Planning and Navigation: Introduction, path planning, obstacle avoidance, decomposition
- SLAM
- Agent architectures for mobile robots
Bibliography
- Introduction to autonomous mobile robots (2nd), Roland Siegwart and Illah R. Nourbakhsh, MIT Press, 2011.
- Mobile robots : inspiration to implementation (2nd) ,Joseph L. Jones, Anita M. Flynn,A K Peters, 1999 Edició 2nd. ed.
- Autonomous robots : from biological inspiration to implementation and control / George A. Bekey, MIT Press, 2005
- Probabilistic robotics, S. Thrun, Wolfram Burgard, Dieter Fox, MIT Press, 2005
Evaluation
- Projects 40%
- Exams 30%
- Oral Presentations 30%