CSE525

Course CSE525
Title Robotics
Credits 3 - credits
Course Coordinator

Minh Hoai Nguyen

Description

This course introduces the fundamental concepts in robotics, including coordinate transformations, visual perception, sensors, path planning, kinematics, feedback control, and feedforward control. These topics will be exemplified with several state-of-the-art robotics platforms. The course will also focus on applying the fundamental concepts to the key approaches to mobile robot control (reactive, behavior-based, and hybrid), and briefly discuss robot learning and multi-robot systems.

Course Outcomes
Textbook

Probabilistic Robotics. S, Thrun et al. MIT Press 2005.

Introduction to robotics. J.J. Craig. Prentice Hall, 3ed, 2003.

Major Topics Covered in Course

Week 1. Introduction, a brief history of robotics

Week 2. Sensing and sensors

Week 3. Quiz 1. Visual processing, computer vision techniques

Week 4. Probabilistic robotics

Week 5. Localization and mapping

Week 6. Quiz 2. Mobile platforms

Week 7. Path planning

Week 8. Review and midterm

Week 9. Effectors and Actuators

Week 10. Manipulation. Direct Kinematics

Week 11. Quiz 3. Dynamics. Inverse Kinemetics

Week 12. Feedback control

Week 13. Behavior-based control

Week 14. Group robotics

Week 15. Final projects

 

Laboratory
Course Webpage

CSE525