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CS 7630: Autonomous
Robotics Instructor:
Prof. Ronald C. Arkin
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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 inartificial intelligence. Neuroscience and cognitive psychology are studied as a source of paradigms for machine autonomy. Various cybernetic issues will be explored from amulti-disciplinary vantage point. High-level computer vision and other sensor modalities and their application to intelligent robotics will also bestudied 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
livelydiscussions 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 (Monday and Wednesday),
starting promptly at 9:05. 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
4.
The text for this course is Behavior-based Robotics
- Introduction to Autonomous Mobile Robots, Siegwart and Nourbakhsh, MIT Press, 2004
Course Syllabus
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Date |
Topic |
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Leader |
Assignments |
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8/18 |
Introduction [Slides] |
Chapter 1 (Arkin) |
Arkin |
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8/20 |
Introduction (II) |
Arkin |
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8/25 |
Animal Behavior [Slides] |
Chapter 2 (Arkin) |
Arkin |
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8/27 |
Robot Behavior [Slides] |
Chapter 3 (Arkin) |
Arkin |
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8/28 |
AI Review [Slides] |
Wagner |
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9/1 |
Labor Day |
NO CLASS |
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9/3 |
Simulation Environments [Slides] |
Wagner |
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9/8 |
Behavior-based Architectures [Slides] |
Chapter 4 (Arkin) |
Arkin |
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9/10 |
Knowledge Representations [Slides] |
Chapter 5 (Arkin) |
Arkin |
Homework #1 Due |
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9/15 |
HARVEST FESTIVAL |
NO CLASS |
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9/17 |
SLAM [Slides] |
Thrun [PDF] |
Wagner |
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9/22 |
Hybrid Architectures [Slides] |
Chapter 6 (Arkin) |
Arkin |
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9/24 |
Gat [PDF] |
Sang Bae Lee Seoksu Lee |
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9/29 |
Perception [Slides] |
Chapter 7 (Arkin) |
Arkin |
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10/1 |
Kuc and Barshan [PDF] Lumelsky et al. [PDF] Martinson and Schultz [PDF] |
Dong Keun Lee Jae Beom Park |
Homework #2 Due |
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10/6 |
MIDTERM EXAM [example solutions] |
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------- |
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10/8
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Adaptive Behavior [Slides] |
Chapter 8 (Arkin) |
Arkin |
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10/13 |
Fall Recess |
NO CLASS |
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10/15 |
HRI/Trust [Slides] |
Humphreys [PDF] |
Wagner |
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10/20 |
Atlanta (Monday) The development and coordination of deliberative processes in a mobile robot [Slides] |
Gagliolo and Shmidhuber [PDF] (Sections 1-6) |
Ulam |
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10/21 |
Atlanta (Tuesday) Mobile Robot Lab Tour |
Arkin |
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10/22 |
Atlanta (Wednesday) Sharing
of Grounded Symbolic Knowledge Among Heterogeneous Robots [Slides] |
Jung and Zelinsky [PDF] |
Kira |
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10/24 |
Atlanta (Friday) Military Unmanned Vehicles (Case study) [Slides] |
Hsie et al. [PDF] |
Arkin |
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11/3 |
Weng et al. [PDF] |
Mihwa Kim Sanghyun Kim |
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11/5 |
DARPA Grand Challenges [Slides] |
CMU [PDF] |
Eung Suk Lee Kwangyoung Lee |
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11/10 |
Murphy et al. [PDF] |
Seyoung Choi Kanghi Yu |
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11/12 |
Humanoid Planning [Slides1][Slides2] Also Robot Ethics @ 5PM (rescheduled from 11/26) |
Chestnutt et al. [PDF] |
Seungtae Ko Dongyoul Lee |
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11/17 |
Multirobot Systems [Slides] |
Chapter 9 (Arkin) |
Arkin |
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11/19 |
Dorigo et al. [PDF] |
Hemanth Kalsank Pai Jungsun Park |
Homework
#3 Due |
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11/24 |
Fringe Robotics |
Chapter 10 (Arkin) |
Arkin + Class |
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11/26 |
Robot Ethics (rescheduled for 11/12 @ 5PM) [Slides] |
Arkin [PDF] |
Arkin |
Term Project Due |
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12/1 |
Project Presentations [Schedule] |
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Class |
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12/3 |
Project Presentations |
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Class |
Take-home Final Exam out. |
*** Denotes student presentation
Subject to change
(Arkin) = Behavior-Based Robotics, MIT Press 1998.
MissionLab
software home page
TeamBots software home page
Borg Lab
RIM@GT
Homepages of Autonomous Robotics
researchers 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