Syllabus
ELEC 7970
Advanced Mobile Robotics – Spring 2013
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Professor: |
Dr. Thaddeus Roppel |
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Office Information: |
Broun 214, Tel. 844-1814, roppeth@auburn.edu |
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Web Site: |
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Office Hours: |
To be announced, and by
appt. |
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Class meets: |
12:00 – 12:50 MWF in Broun 107 |
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Required Text: |
Introduction to Autonomous Mobile Robots, 2nd
Edition Roland Siegwart,
Illah R. Nourbakhsh, and Davide Scaramuzza MIT Press, April 2011 ISBN:
978-0-262-01535-6 Related website: http://www.mobilerobots.org |
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Suggested References: |
(1)
Principles of Robot Motion by Howie Choset et
al., MIT Press, 2005. ISBN-13: 978-0-262-03327-5 Related website: http://www.cs.cmu.edu/~biorobotics/book/ (2) Computational Principles of Mobile Robotics 2nd
Edition by Gregory Dudek and Michael Jenkin, Cambridge University Press 2010, ISBN
978-0-521-87157-0 |
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Pre/Co-requisites: |
Pr., ELEC 2120, and ELEC
3040 or ELEC 3050. |
Course Content:
The course addresses the
mechanisms that allow a mobile robot to move through a real world environment
to perform its tasks -- including locomotion, sensing, localization, and motion
planning. Topics include hardware design, wheel design, kinematics analysis,
sensors and perception, localization, mapping, and robot control architectures.
Course Objectives:
1. Understand
the current state of the art in mobile robotics
2. Become familiar
with hardware and software used in mobile robotics
Prerequisites
by topic:
1. Introductory physics
2. Introductory computer
programming
Textbook:
The
required text, suggested references, and the related websites will be used
extensively, and supplemented with other resources from the literature.
Other
books I have found useful:
Computer Resources:
Homework
assignments and in-class examples will make use of various computer tools,
primarily for simulation and report presentation. All required classwork can be done on the
Grading:
|
Item |
Weight |
|
Homework
and in-class work |
40% |
|
Attendance and
Participation |
20% |
|
Projects |
40% |
Grading scale:
The
table shows how your letter grade will be assigned at the end of the course
based on your cumulative score, C, in the course. Scores are calculated using
Microsoft Excel. The Excel function round(C, 0) is used to round off the
cumulative score to an integer CR.
|
CR equal to or greater
than |
but less
than |
letter
grade |
|
89% |
|
A |
|
79 % |
87 % |
B |
|
69 % |
77 % |
C |
|
59 % |
67 % |
D |
|
|
57 % |
F |
Grades for borderline scores
(88, 78, 68, 58) will be determined by
the instructor’s evaluation of the student’s overall performance as a “citizen
of the class.” Factors considered will be consistency, class participation,
diligence, and professionalism.
Homework Policy:
Homework
problems will be assigned to supplement the in-class instruction and examples. Homework
will be evaluated with regard to both technical merit and professional
presentation.
In-class Work Policy:
In-class
work will be assigned routinely and may be collected for grading. No make-up
will be available for missed in-class work.
Project
Requirements
are detailed separately. Three types of
projects are acceptable: Traditional literature review, Simulation, or Hardware
demonstration.
Reading Policy:
Students
are expected to be familiar with the textbook sections, handouts and papers
that are discussed in class.
Attendance:
Attendance
is expected, and will count as a substantial part of the course grade.
Accessibility:
It is the policy of Auburn
University to provide accessibility to its programs and activities, and
reasonable accommodation for persons defined as having a disability under
Section 504 of the Rehabilitation Act of 1973, as amended, and the Americans
with Disabilities Act of 1990. Students
who need special accommodations should make an appointment to see the
instructor as soon as possible or contact the Students with Disabilities Office
at (334) 844-5943 (Voice/TT).