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CS 7630: Autonomous
Robotics Instructor:
Prof. Ronald C. Arkin
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Course Description
Course Syllabus
Links
HW #1 (Due 01/25/2007)
Term Paper Description and Assignment (Project Abstract: Due 03/08/2007! Final Project Submission: 04/19/2007)
HW #2 (New deadline extension!Due
02/15/2007)
HW #3 (Due 04/12/2007)
Robots available for project use
Sample Midterm
Project Presentation Schedule (for 04/24 and 04/26)
Class swiki
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 12:05. 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.
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 expected 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. Other recommended books are:
· Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems, Kortenkamp, et al, MIT Press, 1998
Course
Syllabus
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Date |
Topic |
Reading |
Leader |
Assignments |
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1/9 |
Introduction |
Chapter 1 (Arkin) [slides] |
Arkin |
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1/11 |
Introduction (II) |
Arkin |
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1/16 |
Animal Behavior |
Chapter 2 (Arkin) [slides] |
Arkin |
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1/18 |
Lab Tour |
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Arkin |
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1/23 |
Robot Behavior |
Chapter 3 (Arkin) [slides] |
Arkin |
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1/25 |
Behavior-based Architectures |
Chapter 4 (Arkin) [slides] |
Arkin |
HW #1 DUE!! |
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1/30 |
Subsumption |
Brooks [Paper PDF] [Powerpoint slides] |
John Hutchinson, Emilie Hayne* |
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2/1 |
Knowledge Representations |
Chapter 5 (Arkin) [slides] |
Arkin |
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2/6 |
SLAM |
Thrun [PDF] [PDF of slides] |
Sebastien Beaudet, Philip Case* |
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2/8 |
Hybrid Architectures |
Chapter 6 (Arkin) [slides] |
Arkin |
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2/13 |
Perception I |
Chapter 7 (Arkin) [slides] |
Arkin |
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2/15 |
Non-vision Sensing |
Krotkov [Paper PDF]
[Powerpoint slides] |
Kyle Woodlock, Craig Cambias* |
HW #2 DUE!! |
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2/20 |
Perception II |
Chapter 7 (Arkin) |
Arkin |
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2/22 |
Heterogeneous Perception and Knowledge Sharing |
Billard and Dautenhahn [PDF] |
Zsolt Kira |
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2/27 |
Visual Sensing (non-SLAM) |
Slides: [PDF1], [PDF2]
Readings: Baten et al. [PDF], Miura et al. [PDF] |
Bryan Horvat, Olivier Tayeg* |
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3/1 |
MIDTERM EXAM |
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3/6 |
Adaptive Behavior |
Chapter 8 (Arkin) [slides] |
Arkin |
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3/8 |
Developmental Learning |
Liam MacDermed, Jennifer Garcia |
Project Abstract DUE!! | |
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3/13 |
Military Unmanned Vehicles (Case Study) |
Arkin |
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3/15 |
DARPA Grand Challenge |
Albert Sacks, Dom Larkin* |
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3/20 |
RECESS |
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3/22 |
RECESS |
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3/27 |
Entertainment Robotics |
New class date and location for this date ONLY! Monday 3/26 (RIM Seminar) TSRB 132-134 at noon. There will be NO class on 3/27 |
Arkin |
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3/29 |
Humanoid Planning |
Thibault Bizollan, Stephen Campos* |
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4/3 |
Multirobot Systems |
Chapter 9 (Arkin) [slides] |
Arkin |
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4/5 |
Swarm Robotics |
Travis Fischer, Jiuguang Wang* |
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4/10 |
Probabilistic Robot Control |
Yoichiro Endo |
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4/12 |
Trust and Autonomous Robots |
Reading: Humphrey[PDF] |
Alan Wagner |
HW #3 DUE!! |
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4/17 |
Fringe Robotics |
Chapter 10 (Arkin) Slides: [PDF] |
Arkin + Class |
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4/19 |
Robot Ethics |
Slides: [PDF] |
Arkin |
Project Submission DUE!! |
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4/24 |
Project Presentations |
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4/26 |
Project Presentations |
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Take-home Final Exam out. Due Tuesday May 1 10:00 AM (end of regularly scheduled exam period) |
* Denotes student presentation
Subject to change
(Arkin) = Behavior-Based
Robotics, MIT Press 1998.
The Mobile
Robot Laboratory home page
MissionLab
software home page
TeamBots software home page
Borg Lab
RIM@GT
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.
Gat Erann
Horswill Ian
Kaelbling Leslie P
Koenig Sven
Konolidge Kurt
Kortenkamp David
Kuc Roman
Kuipers Benjamin
Latombe Jean-Claude
Mataric Maja
Miller David P.
Moravec Hans
Parker Lynne E.
Pfeifer Rolf
Pirjanian Paolo
Rosenblatt Julio
Shultz Alan
Simmons
Reid
Thrun Sebastian