The focus of this course will be the intelligent connection of perception to action.

We will cover:

• Background (Chs. 1, 2), do on your own.
• Mobile Robots (Sec. 8.3)
  • ideal case: perfect sensing and actuation, point robot.
    • reactive control.
    • grid based planners (metric?).
    • graph based planners (topological).
    • unification: robot control policies.
  • imperfect sensing: data filtering and fusion.
  • complex robot: kinematics and dynamics.
  • imperfect actuation: planning with uncertainty.
• 2D Kinematics.
  • coordinate transformations.
  • velocity transformations.
  • inverse kinematics.
  • kinematics calibration and learning.
• 3D Kinematics.
• 2D Dynamics.
  • statics
  • dynamics: automatic derivation of programs.
• 3D Dynamics.
• Control.
• Sensing.
  • Vision is the big topic here, although other modalities briefly discussed.
• Task Planning

• Software agents. We will focus on interaction with the physical world.