CIS
466 Introduction to Mobile Robotics - Course Syllabus
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Instructor
Information
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Dr. Ramprasad Bala
Email:
r.bala@umassd.edu
Office: Computer and Information Science - Dion Building 308A
Office Hours:MW 11:00 am to 12:30 pm, F
12:00 pm 1:00 pm.
Additional
hours: by appointment
Phone:(508)
999-8259Fax: (508) 999-9144
Homepage: http://www.cis.umassd.edu/~rbalasubrama/
TA: Daniel Savaria
TA Hours : M 3 - 4 and W 2 - 4
TA
Office : DION 307
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Course
Information
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Lecture: T R
9:30AM-10:45AM (Dion # 101)
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Course Homepage: http://www.cis.umassd.edu/~rbalasubrama/CIS466/Fall08/
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Course
Description
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A broad overview of robotic paradigms and architectures. This course
will study various issues related to robotics from industrial manipulators to
Urban Search and Rescue (USAR). The influence of biological systems on
Robotics will be presented. The three fundamental paradigms ?hierarchical,
reactive and hybrid will be presented. Multiple representative architectures
for each paradigm will be discussed. Sensors, their properties and their role
in robotics will be discussed. Computer Vision, as related to Robotics, will
be presented. The course will have a strong hands-on practical component
including building robots and testing the various architectures through
assignments.
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Prerequisites
& Requirements
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- Pre-requisite: CIS 360
?Data Structures and Algorithms
- Requirements:
- Ability to
undertake independent design projects.
- Consistent access to the Internet to get the
course material and announcements.
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Course Objectives
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The objective of
this course is to present students with:
1.
a
historical perspective, current advances and future work in mobile robotics
2.
the
concepts and limitations of teleoprations
3.
influences
of biological systems in robotics
4.
the
three robotic paradigms ?span class=MsoPageNumber> hierarchical, reactive and hybrid with sample architectures
5. sensors, issues of path planning,
map-making and navigation
6.
examples
of successful robotic ventures such as the mars sojourner.
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Course Outcomes
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Upon the
completion of the course the students will:
- have an understanding of various
robotic paradigms
- have an understanding of various
sensors used in a robot
- have the knowledge to select an
appropriate architecture given a problem domain
- have worked with robots and have
written software to have a robot complete a task-based goal
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Textbooks
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Required textbook: An Introduction
to AI Robotics, By Robin R. Murphy ISBN-10: 0-262-13383-0
ISBN-13: 978-0-262-13383-8 MIT Press.
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Course
Policies
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General
Policy:
Actively participating in the class
and lab, and carrying out the assignments are the best way for the students
to accomplish the objectives of this course. There
will be weekly programming assignments. There will be one comprehensive final exam on
the last day of the course and additional quizzes if necessary.
In this course students will have the opportunity to
access its material through the course web site. You should be prepared to access the site regularly in
order to access the course material and to check
any announcements that will be regularly posted.
I expect that you are taking this course to learn and to
do the required work by yourself. Plagiarism is not acceptable and is not tolerated under any circumstances. All
work turned in must be your own work (no collaboration is allowed). Students who violate this rule may get a penalty that
ranges from dropping one letter grade for the course, to getting an F as the course grade.
Also, the student who offers his/her work to another student will get the
same penalty.
Homework policy:
Homework
assignments must be submitted on or before its due date and
time. Solutions must be turned into the Learning Portal. Late
assignments lose 20% credit per day they are late. Exceptions will be
made only under exceptional circumstances, and then only with an
appropriate written excuse (e.g. a note from a medical doctor)
Exams policy:
Final exam will be in-class and closed book. No make-up exam will
be given to any missed exam except for cases of serious illness. You must
provide written explanation from a medical doctor.
Quiz policy:
Quizzes will be in-class. They will be closed book. Quizzes will
not be announced. Any quiz that is missed will receive zero credit - no
exceptions.
Attendance policy:
Attendance and active participation
in classes and labs are essential part of the professional education process,
because adults learn by sharing experience with classmates and instructors.
For this course, regular attendance is necessary for you to achieve the
necessary progress needed to learn the course concepts. You must give me, in
advance, a legitimate-written excuse for missing any class or lab. Consistent-unexcused failure to attend could result in getting a grade of F.
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Tentative
Course Outline
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Week
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Topic
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Chapter
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1
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Historical
perspective of robotics : from mechanical devices, industrial manipulators
to planetary rovers
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1
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2
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From
Teleoperation to Autonomy
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1
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3
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Hierarchical
Paradigm and Architectures
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2
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4
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Biological
Foundations of the Reactive Paradigm
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3
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5
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Behaviors and
Schema Theory
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3
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5
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Reactive
Paradigm
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4
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6
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Architectures
of the Reactive Paradigm ?Subsumption and Pfields
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4
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7
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Implementation
of behavior, schema theory and the reactive paradigm
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4,5
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8
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Sensors
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6
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9
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Vision sensors
computer vision algorithms for robotics
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10
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Common sensing
techniques for the reactive paradigm
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6
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11
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The hybrid
deliberative/reactive paradigm
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7
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12
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Sample
architectures and implementation issues of the hybrid paradigm
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7
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13
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Multi-agent systems,
cooperating robots and introduction to swarm architectures
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8
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14
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Path planning,
navigation
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9
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15
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Navigation,
map-making
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10
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16
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Future of
robotics, final project demonstrations
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Important
Dates
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Tuesday,
September 2 Fall classes begin
Monday,
September 8 Last day to add/drop/audit
Monday,
October 6 Last day to file pass/fail
Monday,
October 13 Columbus Day: no classes
Wednesday,
October 15 Follow Monday's schedule
Monday,
November 10 Last day to withdraw from a class
Tuesday,
November 11 Veterans' Day: no classes
Wednesday,
November 26 Thanksgiving recess begins
Friday,
December 12 Fall classes end
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Grading
Policies
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Homework Assignments
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35%
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Exams 2
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30%
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Final Project
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20%
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Final Exam (Tuesday Dec 16th 8:00AM ?
11:00AM)
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15%
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The final grade will depend on the points that you have
earned in the course of the semester. While I would like to allow myself some
flexibility in grading, the following may give you an idea about my
expectations:
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90-100
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A- , A , A+
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80-89
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B- , B , B+
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70-79
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C- , C , C+
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60-69
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D- , D , D+
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Below 60
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F
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Note
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If
you have particular needs in order to complete this course, such as special
seating, note taking, or examination conditions, please let me know as soon
as possible so that appropriate accommodations can be made.
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I look forward to working with you!
Good luck
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