Module 15267 (2004)
Syllabus page 2004/2005
06-15267
Intelligent Robotics (Extended)
Level 4/M
Links | Outline | Aims | Outcomes | Prerequisites | Teaching | Assessment | Books | Detailed Syllabus
The Module Description is a strict subset of this Syllabus Page. (The University module description has not yet been checked against the School's.)
Relevant Links
Outline
Aims
The aims of this module are to:
- give an appreciation of the issues that arise when designing complete, physically embodied autonomous agents
- introduce some of the most popular methods for controlling autonomous mobile robots
- give hands on experience of engineering design
- encourage independent thought on possible cognitive architectures for autonomous agents
Learning Outcomes
| On successful completion of this module, the student should be able to: | Assessed by: | |
| 1 | design, build and program simple autonomous robots | Team Project |
| 2 | implement standard signal processing and control algorithms | Team Project |
| 3 | describe and analyse robot processes using appropriate methods | Team Project |
| 4 | write a detailed report on a robot project | Team Project |
| 5 | carry out and write up investigations using appropriate experimental methods | Team Project |
| 6 | show appreciation of the research literature in one subfield of intelligent robotics | Presentation |
Restrictions, Prerequisites and Corequisites
Restrictions:
Available only to School of Computer Science students; registration limited to approx. 42 in combination with 06-13520 (Intelligent Robotics). May not be taken in conjunction with 06-13520 (Intelligent Robotics).
Prerequisites:
None
Co-requisites:
None
Teaching
Teaching Methods:
Approximately 18 lectures, 6 student presentations and 24 laboratory sessions
Contact Hours:
Assessment
- Supplementary (where allowed): As the sessional assessment
- The continuous assessment consists of: a writeup and demonstration of an autonomous robot project designed and constructed by each team (75%); oral presentation of an overview of an area of intelligent robotics research (25%).
Recommended Books
| Title | Author(s) | Publisher, Date |
| Behavior Based Robotics | R Arkin | MIT Press, 1998 |
| Robotic Explorations: A Hands-on Introduction to Engineering | F Martin | Addison-Wesley, 2001 |
| Vehicles: Experiments in Synthetic Psychology | V Braitenberg | MIT Press, 1984 |
| Lecture Notes on Intelligent Robotics, and lab handouts | Jeremy Wyatt | |
| Mobile Robotics: A practical introduction | U Nehmzow | Springer Verlag, 2000 |
| Robot Learning | S Mahadevan and J Connell | Kluwer Academic, 1993 |
| Mobile Robots: Inspiration to Implementation (2nd ed.) | J Jones, B Seiger and A Flynn | AK Peters, 1999 |
Detailed Syllabus
-
Introduction
- What is robotics?
- Robotics and AI
- Embedded Systems
- Agent-Task-Environment model
- Embodied Systems
- Synthetic approaches to science
- Sensors and signal processing
- Common sensors and their properties
- 1D signal processing
- Vision
- Planning approaches to robot control
- STRIPS and SHAKEY
- Robot kinematics
- Limitations of planning approaches
- Control Theory
- Feedback, feedforward and open loop control
- Linear first order lag processes
- Limitations of control theory
- Probability Based Approaches
- Markov Decision Processes (MDPs)
- Partially Observable Markov Decision Processes
- Navigation using POMDPs
- Behaviour-Based Control
- The subsumption architecture
- Hybrid architectures
- Formalising behaviour based control (SMDPs)
- Adaptive approaches to robot control
- Reinforcement learning for control
- Model based learning approaches to control
- Learning maps
- Evolutionary approaches
- Case studies and applications
Last updated: 2 July 2003
Source file: /internal/modules/COMSCI/2004/xml/15267.xml
Links | Outline | Aims | Outcomes | Prerequisites | Teaching | Assessment | Books | Detailed Syllabus