Syllabus
Textbook: Berry, C.A., “Mobile Robotics for Multidisciplinary Study”, Synthesis Lectures on Control and Mechatronics, Morgan and Claypool, 2012.
| Lectures | Labs | ||
|---|---|---|---|
| Lecture 1-1 From Teleoperation to Autonomy | Lecture 1-1 Slides | Lecture 1-1 Notes | Lab 1 Recitation |
| Lecture 1-2 The Hierarchical Paradigm | Lecture 1-2 Slides | Lecture 1-2 Notes | Lab 1 – Getting to Know Your Robot: Locomotion and Odometry |
| Lecture 2-1 Representation and The Reactive Paradigm | Lecture 2-1 Slides | Lecture 2-1 Notes | |
| Lecture 2-2 The Reactive Paradigm | Lecture 2-2 Slides | Lecture 2-2 Notes | Lab 2 – Random Wander, Obstacle Avoidance: The Reactive Paradigm |
| Lecture 3-1 Feedback Control | Lecture 3-1 Slides | Lecture 3-1 Notes | |
| Lecture 3-2 Designing a Reactive Implementation | Lecture 3-2 Slides | Lecture 3-2 Notes | Lab 3 – Wall Following: Proportional-Derivative Control |
| Lecture 4-1 Common Sensing Techniques for Reactive Robots | Lecture 4-1 Slides | Lecture 4-1 Notes | |
| Lecture 4-2 Common Sensing Techniques for Reactive Robots | Lecture 4-2 Slides | Lecture 4-2 Notes | Lab 4 – Line Following: Proportional-Integral Control
Lab 4 – Braitenberg Vehicles |
| Lecture 5-1 Mobile Robot Kinematics | Lecture 5-1 Slides | Lecture 5-1 Notes | |
| Lecture 5-2 The Hybrid/Deliberative/Reactive Paradigm | Lecture 5-2 Slides | Lecture 5-2 Notes | Lab 5– Homing: Hybrid Control |
| Lecture 6-1 Topological Path Planning | Lecture 6-1 Slides | Lecture 6-1 Notes | |
| Lecture 6-2 Topological Path Planning | Lecture 6-2 Slides | Lecture 6-2 Notes | Lab 6– Topological Path Planning |
| Lecture 7-1 Metric Path Planning | Lecture 7-1 Slides | Lecture 7-1 Notes | |
| Lecture 7-2 Localization and Map Making | Lecture 7-2 Slides | Lecture 7-2 Notes | Lab 7-Metric Path Planning (Occupancy Grid) |
| Lecture 8-1 Localization and Map Making | Lecture 8-1 Slides | Lecture 8-1 Notes | |
| Lecture 8-2 Map Making | Lecture 8-2 Slides | Lecture 8-2 Notes | Lab 8-Path Planning (Topological Map) |
| Final Project – Localization and Map Making | Images | ||
| Lecture Videos | Lab Videos | ||