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mobrob_fall15

C635 - Mobile Robotics

Fall 2015 Semester, FAST-NU Lahore

Instructor: Dr. rer. nat. Yasir Niaz Khan

Prerequisites: Programming and Mathematics

Course Instructor: Dr. Yasir Niaz Khan (Office: in Liberty Lab for Robotics & Embedded Systems)

Lectures: Monday: 4:30 – 5:50 pm and Friday: 4:00-5:20 pm, Room: New-4

Course Website: http://www.yasirniaz.com/teaching/mobrob_fall15

Course Folder: \\xeon\Faculty\Dr. Yasir Niaz\Teaching\MobRob_fall15

Course Discussion Group: http://groups.yahoo.com/group/MobRob_fall15

(Subscribe to the group by sending email to MobRob_fall15-subscribe@yahoogroups.com, even from a non-yahoo email address)


Course Outline:


    Topic

# of Lectures

  1. Introduction

1

  1. Mathematical Foundations

1

  1. Kinematic modeling of wheel-driven mobile robots

1

  1. Motion and Sensor Models

3

  1. Bayes Rule

1

  1. Environment Mapping

2

  1. Kalman and Extended Kalman Filters

3

  1. Localization

    1. Discrete Filters

    2. Particle Filters

3

  1. SLAM

4

  1. Path Planning

1

  1. Navigation, Path following and Collision avoidance

    1. PID Controller

2

  1. Exploration

1

  1. Advanced Topics

    1. Modeling of flying robots

    2. Robot Vision

    3. 3d Point Clouds

2

Reference Texts:


  • Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Seth Hutchinson and George Kantor.

  • Probabilistic Robotics, by Sebastian Thrun, Wolfram Burgard, Dieter Fox. MIT Press.

  • Handbook of Robotics, by Bruno Siciliano, Oussama Khatib. Springer.

  • Robotics: Modeling, Planning and Control, by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani and Giuseppe Oriolo


Assessment



Project 15 (-15)

Quizzes & Assignments 20 (+5)

Mid-term 25 (+5)

Final 40 (+5)


Course Policy:


  1. Cheating in Exams and Assignments may result in an 'F' grade and additional penalty as well.

  2. Many quizzes and assignments will be held, but not all will be graded. 2-3 of each will be checked.

  3. Assignments and Project deliverables will be posted on SLATE.



  • Lecture slides present at: \\xeon\Faculty\Dr. Yasir Niaz\Teaching\MobileRobots2015
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Yasir Niaz Khan,
Aug 17, 2015, 7:16 AM
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