The goal of the course is:
· to discussing the current trends in robotics research and technology development
· to introduce main theories and methods and main fields of contemporary robotics.
· to give practical skills permitting to connect the theory to technical implementations.
This course covers a broad spectrum of topics that introduces various themes of contemporary robotics. The main emphasis is on mobile robotics. The course is oriented to acquiring practical knowledge that introduces students to contemporary methods of robot programming, in particular using Robot Operating System (ROS) to define robot architecture and solve various problems. The course is managed in the Moodle learning environment, including also all course materials and additional reading.
The theoretical part of the course covers the following topics: Current technology trends in robotics. Classification of robots, application areas. Robot motion and motion planning. Sensors for robots, position and proximity sensors, ultrasonic sensors, laser range finders. Robot vision. Behaviour-based robotics. Reflexes and Braintenberg vehicles. Emerging behaviour. Planning vs. reflexive robots. Mobile robotics. Robot navigation and localisation. Probabilistic approaches to localisation, Kalman filtering and Markov localisation. Maps, topological and grid-based maps. Path planning. Wavefront planners and potential fields. Bio-inspired robotics. Robot learning, basic methods of robot learning. Reinforcement learning. Human-robot interaction, social and ethical aspects of robotics.
The practical part consists of solving various excercises on robot simulator Stage and on real robots Turtle-Bot and SCITOS G5 on the topics covered in lectures.
Independent theoretical work acquires the student to write a report on a freely chosen topic and present it in the classroom.
Having finished the study of the subject a student:
- Understands what contemporary robotics actually means and how it is different from the media image of this topic.
- Has an overview of the main problems and underlying principles of contemporary robotics.
- Can asses the degree of complexity of problems of robotics and can determine what it takes to solve those problems.
- Knows the main application areas of robotics.
- Has an understanding of the main locomotion mechanisms of robots
- Is acquainted to the methods and concepts of mobile robotics, such as methods for world modelling, localisation, navigation and path planning.
- Is acquainted to some simple methods of robot vision.
- Is familiar with some basic robot learning algorithms (such as reinforcement learning) and understands how robot learning is special with respect to machine learning in general.
- Knows the problems of human-robot interaction and can discuss the social and ethical aspects associated with robotics.
- Can apply the above mentioned methods to simple cases in practice or in a robot simulator.
- Can use the robot simulator and understands the opportunities as well as limitations associated to it.
- Understands what it takes to apply the above studied methods to real cases and has some experience with practical implementations.
- Is able to find and read the technical literature of robotics in English
All main topics include web-based exercises on a robot simulator. As the minimum (50%) short web-based tests and the simulator exercises should be completed. For the grade „good“ the student also has to implement practical exercises on SCITOS G5 on localisation and path planning. For the grade „very good“ an additional presentation has to be prepared. The grade „excellent“ implies an oral exam and discussion with the lecturer to determine the depth of student’s knowledge in full detail.
Contact crouse instructor by email maarja.kruusmaa ätt ttu.ee Include IBX0060 on the subject line.