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| CS 7630: Autonomous Robotics Instructor: Prof. Ronald C. Arkin
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Course Syllabus
Links
Class swiki
1. Prerequisite: CS 4600 or equivalent or instructor's permission
A survey of autonomous robotics as viewed from avariety of disciplines and as applied inartificial intelligence. Neuroscienceand cognitive psychology are studied as a source of paradigms for machineautonomy. Various cybernetic issues will be explored from amulti-disciplinary vantage point. High-level computer vision and othersensor modalities and their application to intelligent robotics will also bestudied within this context.
2. Class structure
The subject matter of this course is oftencontroversial and hopefully equally stimulating. It is a goal to have livelydiscussions with various interpretations of the subject matter. We are dealingwith approaches to problems that will hopefully provide solutions in extremelydifficult task domains. Consequently your classroom participation is essential.
There will be two meetings per week (Tuesday and Thursday), startingpromptly at 12:05. Your attendance, ofcourse, is mandatory as is your participation in classroom discussions.
You are required to complete all assigned readings prior toclass and you must be prepared to present or discuss the material containedtherein.
3. Student evaluation (grading)
As mentioned earlier, classroom attendance andparticipation are crucial to passing this course. You will be evaluatedafter each class regarding your contributions to the discussion and yourknowledge of the subject matter derived from the readings. In addition, therewill be at least one presentation involving each student on material relevantto the course (20%). The remainder of your grade will be derived from a termproject and homework (30%), and the midterm (20%) and final exam (20%).
Students are expected to adhere to the Honor Code
4.
The text for this course is Behavior-based Robotics
Course Syllabus
| Date | Topic | | Leader | Assignments |
| 1/8 | Introduction (slides) | Chapter 1 (Arkin) | Arkin | |
| 1/10 | Introduction (II) | | Arkin | |
| 1/15 | Lab Tour - TSRB Basement | MEET IN TSRB LOBBY @ 12 Noon | Arkin | |
| 1/17 | Animal Behavior (slides) | Chapter 2 (Arkin) | Arkin | |
| 1/22 | Robot Behavior | Chapter 3 (Arkin) | Arkin | |
| 1/24 | Behavior-based Architectures | Chapter 4 (Arkin) | Arkin | |
| 1/29 | Subsumption-style Architectures | Brooks [PDF] | N. Dudebout S. Chandrababu C. Smith | Homework #1 Due |
| 1/31 | Knowledge Representations | Chapter 5 (Arkin) | Arkin | |
| 2/5 | Probabilistic Robotics (SLAM) |
| S. Belinski C. Cubero V. Menon | |
| 2/7 | Robot Wars: The Ethical Issues | Prof. R. Sparrow | | |
| 2/12 | Hybrid Architectures | Chapter 6 (Arkin) | Arkin | |
| 2/14 | Perception I | Chapter 7 (Arkin) | Arkin | |
| 2/19 | Non-Vision Sensing | | J. Perkins J. Beavers O. Aderibigbe | |
| 2/21 | Perception II | | Arkin | |
| 2/26 | MIDTERM EXAM |
| ------- | |
| 2/28
| Guest Lecture |
| Dr. Jason Borenstein | |
| 3/4 | Adaptive Behavior | Chapter 8 (Arkin) | Arkin | |
| 3/6 | Developmental Learning | | R. Quax A. Saxena C. Roussillon | |
| 3/11 | Anticipatory and Improvisational Robot |
| Yoichiro Endo | |
| 3/13 | Grounded Knowledge Sharing among Heterogeneous Robots |
| Zsolt Kira | |
| 3/18 | SPRING RECESS | | ------------ | |
| 3/20 | SPRING RECESS |
| ------------ | |
| 3/25 | Military Unmanned Vehicles (Case study) | Ani Paper: Hsie et al. [PDF] | Arkin | |
| 3/27 | DARPA Grand Challenges | | D. Friedman T. Kunz J. Sweeney J. Ratti | |
| 4/1 | Entertainment Robotics/HRI |
| C. Song M. Galdos P. Vasudev | |
| 4/3 | Humanoid Planning | | Anand TM C-W. Jung P. Kolhe K. Spafford | |
| 4/8 | Multirobot Systems | Chapter 9 (Arkin) | Arkin | |
| 4/10 | Swarm Robotics | | I. Kirillov R. Chipalkatty E. Joudiou K. Ruffin | |
| 4/15 | Fringe Robotics | Chapter 10 (Arkin) | Arkin + Class | |
| 4/17 | Robot Ethics |
| Arkin | |
| 4/22 | Project Presentations |
| Class | |
| 4/24 | Project Presentations |
| Class | Take-home Final Exam out. |
* Denotes student presentation
Subject to change
(Arkin) = Behavior-Based Robotics,MIT Press 1998.
MissionLabsoftware home page
TeamBots software home page
Borg Lab
RIM@GT
Homepages of Autonomous Roboticsresearchers around the world
(this list is not complete:)
Albus James S.
Arkin,RonaldC.
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
Mataric Maja
Miller David P.
Moravec Hans
Parker Lynne E.
Pfeifer Rolf
Pirjanian Paolo
Rosenblatt Julio
Shultz Alan
Simmons Reid
Thrun Sebastian