CS 7630: Autonomous Robotics
Spring 2012
College of Computing 101
(Tuesday, Thursday   8:05AM-9:25AM) 
 

Instructor: Prof. Ronald C. Arkin
Office: TSRB 238A
Office hours: Tu 9:30-10:00, Other times by appointment
Phone: Office: (404) 894-8209
e-mail arkin@cc.gatech.edu
(http://www.cc.gatech.edu/~arkin)

TA: HyunRyong Jung

Office: Entertainment Intelligence Lab (Near TSRB 236)

Office hours: Monday 11:00-1:00, other times by appointment

Email:  jhr1021@gmail.com

 




 

 


Course Description

1. Prerequisite: CS 3600 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 8:05. 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 herein.

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 (10%). 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). Do not plagiarize from any sources including the internet. Collaboration on other homework and/or take home exams is not permitted.

 

4. Readings

    The texts for this course are: Behavior-based Robotics, Arkin, MIT Press, 1998 and Introduction to Autonomous Mobile Robots, Siegwart and Nourbakhsh, MIT Press, SECOND EDITION, 2011.

 

            Available Robots for Project

            Sample Midterm

            Term Project

 

Course Syllabus
 

Date

Topic

Reading

Leader

Assignments

1/10

Introduction  I (slides)

Chapter 1 (Arkin)

Arkin

 

1/12 

Introduction II  

Chapter 1 (Seigwart)

Arkin

 

1/17

Animal Behavior (slides)

Chapter 2 (Arkin)

Arkin

 

1/19 

Stereotypes and Stereotyping for HRI

Paper 1

Paper 2

Dr. Alan Wagner

 HW #0 out

1/24

Robot Behavior (slides)

Chapter 3  (Arkin)

Arkin

 

1/26

Behavior-based Architectures (slides)

Chapter 4 (Arkin)

Arkin

 

1/31

Lab Tour  - TSRB Basement

MEET IN TSRB LOBBY @ 8AM

Joon

HW #0 due

2/2

Knowledge Representations (slides)

Chapter 5 (Arkin) Chapter 6 (Siegwart)

Arkin

 

2/7

Hybrid Architectures  (slides)

 Chapter 6 (Arkin)

Arkin

HW #1 out 

2/9

Perception (slides)

Chapter 7 (Arkin)

Arkin

2/14

Non-vision sensing

Chapter 4 (Siegwart)

Arkin

 Homework #1 Due/HW#2 out

2/16

Robot Vision

         

Arkin

 

2/21

Probabilistic Robotics (SLAM) (slides)

 Chapter 5 (Siegwart)

Student

 

2/23 

RoboEthics

Paper

Dr. Jason Borenstein

 Homework #2 Due

2/28

MIDTERM EXAM

 

-------

 

3/1

 

Autonomous Driving – DARPA GC/Google

(slides)

 Paper

Student

 

3/6

Adaptive Behavior [slides]

 Chapter 8 (Arkin)

Arkin

 Project Abstract Due

3/8

Developmental Learning (slides)

Paper

Student

 

3/13

Science of Testing Autonomy

 Paper

Dr. Lora Weiss

 

3/15

Humanoid/Android (slides)

 Paper

Student

 

3/20

SPRING RECESS

 

------------

 

3/22

SPRING RECESS

 

------------

 

3/27

Swarm Robotics (slides)

Paper

Student

 

3/29

Entertainment Robotics/HRI (slides)

Paper

Student

 

4/3

Multirobot Systems (slides)

 Chapter 9 (Arkin)

Arkin

 HW #3 out

4/5

Teleautonomy/Planetary Rovers (slides)

Paper

Student

 

4/10

Bio-inspired Robotics

 

Arkin

 

4/12

Fringe Robotics (slides)

Chapter 10 (Arkin)

Arkin

 HW #3 due

4/17

Project Presentations

Student 

Term Project Due

4/19

Project Presentations

 

Student

 

4/24 

Autonomous Decision Making through the lens of Reinforcement Learning

 

Prof. Charles Isbell

 

4/26 

Conceptual Spaces

 Paper

Jung

Take-home Final Exam out.

* Denotes student presentation

    Subject to change

(Arkin) = Behavior-Based Robotics, MIT Press 1998.

(Siegwart)  - Introduction to Autonomous Mobile Robots, Siegwart, Nourbakhsh, and Scaramuzza, 2nd Edition, MIT Press, 2011.
   

Links

The Mobile Robot Laboratory homepage
MissionLab software home page
TeamBots software home page
Borg Lab
RIM@GT