mem380_01 - MEM380 Fundamental Robotics II Winter 2010...

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1 MEM380 Fundamental Robotics II Winter 2010 Professor: Ani Hsieh MEM380: Fundamental Robotics I Fal 2009 1 Time: Mon 2- 4:50pm Location: Randell 238B Admin Stuff Course Website: http://robotics.mem.drexel.edu/mhsieh/Courses/MEM380W/ Instructor: M. Ani Hsieh 159 Curtis Hall [email protected] MEM380: Fundamental Robotics I Fal 2009 2 Teaching Assistants: Location: Randell 238B Pre-requisites: Robotics I or Instructors Permission Linear Algebra Linear Differential Equations Bil Mather Theodore Bieniosek Hess 10F Hess 10F [email protected] [email protected] Drexel University Admin Stuff Cont. Main Text: Introduction to Autonomous Mobile Robots Supplemental Texts & Suggested Software: Probabilistic Robotics Principles of Robot Motion: Theory, Algorithms, and Implementations Computer Computer Vision Computer Vision: A Modern Approach Unreal Tournament 2004 (Other editions WILL NOT do) USARSim (Freeware MEM380: Fundamental Robotics I Fal 2009 3 USARSim (Freeware) Grading: Assignments 40% Projects/Exams 50% Participation 10% Misc: Assignments are due on @ 11:59 pm on due date unless otherwise specified . Electronic assignments , w/ exception of code, must be submitted in electronically via e- mail in PDF format. The file MUST BE a single PDF file and must NOT exceed 5MBs. All Matlab code submission must conform to the guidelines outlined in each assignment. If we cannot run your code, it WILL NOT be graded. Late submissions WILL NOT be accepted Drexel University Assignments & Office Hours Assignments Unless specified otherwise, ALL assignments are individual assignments You may work together, BUT everyone MUST submit their own work. Electronic Submissions: E-mail to [email protected] Written Submissions: Submit beginning of class Drexel University MEM380: Fundamental Robotics I Fal 2009 4 Time & Location of Office Hours Prof. Hsieh – Tues 4-6pm, 159 Curtis Hall Bill Mather – Hess Ted Bieniosek – Hess Equipment Personal Laptop w/ Wireless capabilities Ethernet cord – highly recommended
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2 Projects/Exams Two Projects Color-blob following (Week 7) Landmark based localization within a static environment (Final Exam Time) Drexel University MEM380: Fundamental Robotics I Fal 2009 5 Introduction Three key questions in Mobile Robots Where am I? Where am I going? How do I get there? To answer these questions the robot has to Have a model of the environment (given or obtained) MEM380: Fundamental Robotics I Fal 2009 6 Perceive and analyze the environment Find its position within the environment Plan and execute the movement Course Outline Motion Planning & Control – Main Focus in Robotics I Introduction & Review – Week 1 Perception – Weeks 2-5 Localization – Weeks 6-10 (except 7) © R. Siegwart, I. Nourbakhsh General Control Scheme for Mobile Robot Systems Environment Model Local Map "Position" Global Map Cognition Path Planning Knowledge, Data Base Mission Commands
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mem380_01 - MEM380 Fundamental Robotics II Winter 2010...

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