CMPE 565 Autonomous Robots (Spring 2008)

Topics:

• Introduction
• Sensors, Sensor Models,
  
• Actuators, Effectors
• Locomotion
  
• Biped Kinematics, Walking (Baris Gokce)
  
• Control
• Probabilistic Models (Ergin Ozkucur)
  
• Filters
• Non parametric Modeling
  
• Architectures
• Path Planning
• Localization
• Learning
• Multirobot systems

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Text Book:

• Roland Siegwart and Illah R. Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, April 2004
  

Reference Material:

Books

• S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics, MIT Press, 2005.
• H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, 2005.
  
• R.Murphy, An Introduction to AI Robotics, MIT Press, 2000.
• R. Arkin, Behavior Based Robotics, MIT Press, 1998.
• J. Borenstein, H. R. Everett, and L. Feng, Where am I?" --Systems and Methods for Mobile Robot Positioning, 1996
• David Kortenkamp, R. Peter Bonasso, and Robin Murphy (eds.), Artificial Intelligence and Mobile Robots, MIT Press,1998.

 

Papers

• Brooks, R. A. "A Robust Layered Control System for a Mobile Robot,"  IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14--23; also MIT AI Memo 864, September 1985.
• Brooks, R. A., "Intelligence Without Representation,"  Artificial Intelligence Journal (47), 1991, pp. 139--159.
• Brooks, R.A. and L.A. Stein, "Building Brains for Bodies," Autonomous Robots, Vol. 1, No. 1, November 1994, pp. 7--25.
• Brooks, R.A., C. Breazeal (Ferrell), R. Irie, C. Kemp, M. Marjanovic, B. Scassellat and M. Williamson, "Alternate Essences of Intelligence," AAAI-98.
• A. Saffiotti, The Uses of Fuzzy Logic in Autonomous Robot Navigation
• Paolo Pirjanian, "Behavior Coordination Mechanisms - State-of-the-art"
• Maja J Mataric, "Behavior-Based Robotics as a Tool for Synthesis of Artificial Behavior and Analysis of Natural Behavior", Trends in Cognitive Science, 2(3), Mar 1998, 82-87.

Tutorials

• A Survey of Cognitive and Agent Architectures
• S. B. Skaar, Vision Based Robotics Using Estimation, 1994.
• S.  Thrun, Probabilistic Robotics Tutorial AAAI-2000
• A. Mukerjee and D: Hernández ,Tutorial on ``Representation of Spatial Knowledge'', 1995.
• A. Saffiotti, Fuzzy logic techniques for autonomous vehicle navigation

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Course Requirements:

• Midterm 25 %
  
• Term Project 50%
• Final 25 %

TERM PROJECT

• Project Description

• BounCore Description (E. Ozkucur)
  

Robots and Robot Kits

• Khepera
• Lego Mindstorms
• Handyboard

Simulators

• Webots
• Robocup Soccer Server

Useful Information

DC Motors

• Designing with D.C. Motors

• How to Control DC Motors

Stepper Motors

• Basic Stepper Motor Concepts
• D. W. Jones, Control of Stepping Motors, a tutorial, 1998.
• 
  

Control

• Control Tutorials for Matlab
• PD Control Tutorial

FAQ

Robotics mini-FAQ for Beginners

Robotics FAQ

• Artificial Intelligence FAQ
• Artificial Life FAQ
• Constraints FAQ
• Expert System Shells FAQ
• Fuzzy Logic FAQ
• Genetic Algorithms FAQ
• Microcontroller FAQ
• Neural Networks FAQ

Related Web Pages

Agents

• UMBC AgentWeb

Robotics

• Bogaziçi Üniversitesi Robot Sitesi (in Turkish)
• BU AI Lab Robotics Seminars
• Robotics Internet Resources
• AAAI Robot Resources
• RoboCup
• Computer Vision And Robotics Info
• Get a Grip on Robotics

AI

• AI on the WWW
• Berkeley Initiative for Soft Computing
• Neural Networks
• The World-Wide Web Virtual Library: Systems and Control Engineering
• CMU Artificial Intelligence Repository
• AI, Cognitive Science and Robotics WWW Resource

History of Robotics

• Cezeri's Automatons: Eight century old robots

Fun

• CYBORG Name Generator

Search Tools

• Research Index

• Unified Computer Science Technical Report Index
• OFAI Library Information System