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CS 7630/4803B: Autonomous Robotics
Spring 2003, CCB 102 (Tuesday, Thursday 9:30am-11:00am) Instructor: Prof. Ronald C. Arkin |
Course Description
Course Syllabus
Links
AmigoBots
NEW!
HOMEWORK 1 DUE ON 1/23/03 (added 1/14/03)
Chapter 3 slides posted (added 1/23/03)
Subsumption slides added (added 1/23/03)
Cog Paper Added (added 1/23/03)
Connell Papers Added (1)(2) (added 1/23/03)
HOMEWORK 2 DUE ON 2/13 (added 2/11/03)
--------------------------------------------------------------------------------Course Description
1. Prerequisite: CS 4600 or equivalent or instructor's permission
A survey of autonomous robotics as viewed from a variety of disciplines and as applied in artificial intelligence. Neuroscience and cognitive psychology are studied as a source of paradigms for machine autonomy. Various cybernetic issues will be explored from a multi-disciplinary vantage point. High-level computer vision and other sensor modalities and their application to intelligent robotics will also be studied within this context.
2. Class structure
The subject matter of this course is often controversial and hopefully equally stimulating. It is a goal to have lively discussions with various interpretations of the subject matter. We are dealing with approaches to problems that will hopefully provide solutions in extremely difficult task domains. Consequently your classroom participation is essential.
There will be two meetings per week (Tuesday and Thursday), starting promptly at 9:35. Your attendance, of course, is mandatory as is your participation in classroom discussions.
You are required to complete all assigned readings prior to class and you must be prepared to present or discuss the material contained therein.
It is anticipated that actual robots (Amigobots by ActivMedia or ER1 by Evolution) will be available for project work in this course. In addition simulators such as Teambots and MissionLab will also be of use.3. Student evaluation (grading)
As mentioned earlier, classroom attendance and participation are crucial to passing this course. You will be evaluated after each class regarding your contributions to the discussion and your knowledge of the subject matter derived from the readings. In addition, there will be at least one presentation involving each student on material relevant to the course(20%). The remainder of your grade will be derived from a term project and homework (30%), and the midterm (20%) and final exam (20%).
Students are expectd to adhere to the Honor Code in this class. All work is to be accomplished independently unless expressly stated in writing otherwise (e.g., as in a team project). Collaboration on other homework and/or take home exams is not permitted.4. Readings
The text for this course is Behavior-based Robotics, Arkin, MIT Press, 1998. Another required book is Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems, Kortenkamp, et al, MIT Press, 1998, which will provide the basis for student presentations.
Course Syllabus
Date Topic Reading Leader 1/7 Introduction Chapter 1 (Arkin)
slides hereArkin 1/9 Animal Behavior Chapter 2 (Arkin)
slides hereArkin 1/14 Robot Behavior Chapter 3 (Arkin)
slides hereArkin 1/16 Guest Lecture -
From Biology to
Robots and BackBalch 1/21 Behavior-based Architectures Chapter 4 (Arkin)
slides hereArkin 1/23 Subsumption Brooks Moshkina Slides 1/28 Knowledge Representation Chapter 5 (Arkin)
slides hereArkin 1/30 Rhino/SLAM Chapter 1 (Cases) Rangnanthan Slides 2/4 Hybrid Architctures
Chapter 6 (Arkin)
slides hereArkin 2/6 Artificial Potential Functions
Rimon PaperBurridge 2/11 Three-Layer Architectures Chapter 8 (Cases) Geier Slides 2/13 Saphira Chapter 9 (Cases) Lee Slides 2/18 Perception I Chapter 7 (Arkin)
slides hereArkin 2/20 Carmel Chapter 2 (Cases) Shah Slides 2/25 Polly Chapter 5 (Cases) Hauenstein Slides 2/27 MIDTERM EXAM 3/4 RECESS 3/6 RECESS 3/11 Sensor Fusion Chapter 6 (Cases) Jones Slides 3/13 Adaptive Behavior Chapter 8 (Arkin)
slides hereArkin 3/18 Guest Lecture -
MicroUAVsTBA Michelson 3/20 Reinforcement
learningMataric Paper Kira Slides 3/25 Military Unmanned Vehicles Chapter 13 (Cases) Ulam Slides 3/27 Human Robot Interaction HRI Study Wagner Slides 4/1 D-Stampede and Mediabroker Systems Overview Paper Ramachandran 4/3 Perception II Chapter 7
(Arkin)Collins 4/8 Guest Lecture - Reinforcement Learning TBA Dellaert 4/10 Hybrots: hybrids of living neurons and
mechanical robotsPaper Potter 4/15 Social Behavior Chapter 9 (Arkin) Arkin 4/17 Moravec Chapter 10
(Arkin)O'Hara Slides 4/22 Guest Lecture
Hybrid Dynamic SystemsGL1 Egerstedt 4/24 Project Presentations O'Hara slides
Rangnathan Slides
Hauenstein Slides
Geier Slides* Denotes student presentation
Subject to change
(Arkin) = Behavior-Based Robotics, MIT Press 1998.
(Cases) = Artificial Intelligence and Mobile Robots, Kortenkamp et al, MIT Press, 1998.
GL1 : http://users.ece.gatech.edu:80/~magnus/images/BehaviorHybrid.pdfAmigoBots
The names of the three robots are Huey, Dewey, and Louie. When you want to use them you need to check them out with me. You will be given a bag containing:
1 AmigoBot
1 AmigoBot antenna
1 Charger for AmigoBot batteries
1 RadioModem
1 Power Supply for RadioModem
1 Serial Cable for RadioModem
1 Serial Adapter 25pin - 9pin
1 Cable for connecting to the AmigoBot system portTake the robot and use it; but DO NOT forget to switch it off and recharge batteries when you are not using it. Note also that it is possible to use the robot with the charger plugged in. The manual for operating the robot can be downloaded here.
As regards to the software,
1. Saphira software can be downloaded here (Linux and Windows)I suggest you to install the software and run the simulator before using the real robot.
2. MissionLab is available here .
Enjoy them!
Links
The Mobile Robot Laboratory home page
MissionLab software home page
TeamBots software home page
ActivMedia home page
ActivMedia software, documentation and technical support
AmigoBot technical manual (*.pdf)
Saphira software for Linux and Windows
MissionLab is available for Linux .
Home pages of Autonomous Robotics researchers around the world
(this list is not complete:)Agre Philip
Albus James S.
Arkin Ronald C.
Atkeson Chris
Bekey George A.
Borenstein Johann
Brooks Rodney
Christensen Henrik I.
Dudek Gregory
Durfee Edmund H.
Engelson Samuel
Gat Erann
Hayes-Roth Barbara
Horswill Ian
Kaelbling Leslie P.
Koenig Sven
Konolidge Kurt
Kortenkamp David
Kuc Roman
Kuipers Benjamin
Jorg Klaus-Werner
Latombe Jean-Claude
Maes Pattie
Mataric Maja
MacLennan Bruce J.
Miller David P.
Moravec Hans
Mowforth Peter
Murray Iain
Olshausen Bruno
Parker Lynne E.
Pfeifer Rolf
Pirjanian Paolo
Rosenblatt Julio
Shultz Alan
Sigaud Oliver
Simmons Reid
Thrun Sebastian
Zimmer Uwe R.