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lecture685-0 - Recommended Text Intelligent Robotic Systems...

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1 Intelligent Robotic Systems CS 685 Jana Kosecka, 4444 Research II [email protected] , 3-1876 Logistics Grading: Homeworks 30% Midterm: 30% Final project: 40% Prerequisites: basic statistical concepts, geometry, linear algebra, calculus, CS 580 Course web page cs.gmu.edu/~kosecka/cs685/ Homeworks about every 2 weeks, Midterm, Final Project Start thinking about the project early Implement one of the covered methods on robot/ robot simulator, come up with new ideas of robotics tasks Write a report and prepare the final presentation 2 Recommended Text [1] S. LaValle : Planning Algorithms , Cambridge Press, • http://planning.cs.uiuc.edu/ [2] S. Thrun, W. Burghart, D. Fox: Probabilistic Robotics • http://robots.stanford.edu/probabilistic-robotics/ [3] R. Siegwart and I. Nourbakhsh: Introduction to Autonomous Mobile Robots , MIT Press, 2004 [4] S. Russell and P. Norvig: Artificial Intelligence: A Modern Approach [5] R. Sutton and A. G. Barto: Introduction to Reinforcement Learning (on-line materials see course www) Course Logistics Required Software MATLAB (with Image Processing toolbox) Robot simulators, real robots Availability of robotics platforms Pioneers with range sensors, cameras Humanoid – Small soccer league Flockbots – small platforms
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3 Applications - Robots in manufacturing/material handling Manhattan project (1942) – handling and processing of radioactive materials – Telemanipulation Manufacturing - storage, transport delivery - table top tasks, material sorting, part feeding – conveyor belt - microelectronics, packaging - harbor transportation - construction (automatic cranes) Suitable for hard repetitive tasks – heavy handling or fine positioning Successful in restricted environments, limited sensing is sufficient – limited autonomy Autonomous Robotic Systems AGV’s - automated guided vehicles AUV’s - automated unmanned vehicles Applications - Space Robotics 50 -ties US space program, exploration of planets, collecting samples Astronauts bulky space suits – difficult NASA, JPL, DARPA – sponsoring agencies Space programs, military application – surveillance, assistance Planetary Rovers – initially controlled by humans - large time delays, - poor communication connections Need for (semi) – autonomy Teleoperation – Mars Rover
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  • Fall '08
  • Luke,S
  • mobile robot kinematics, Motion Planning Robot, robot/ robot simulator, Robot kinematics Notion, Toy Robot Aibo

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