Robotics and autonomous systems
This course is an advanced course in computer science focusing on the
broad, inter-disciplinary field of robotics where the students build
and program an autonomous robot.
Aim
The goals of the course are to give the students
- knowledge about the basic concepts and technologies in the broad and interdisciplinary field of robotics,
- experience of building and programming an autonomous robot, so that they will
- have a general idea about the possibilities and limitations for robot technology of today,
- be able to implement robots for performing relatively simple and well defined tasks
Syllabus
During the course a small, mobile, autonomous robot for performing
certain tasks is built. This work is done as a project. The
participants in the course work in groups on the practical
implementation of a specific behaviour of this simple robot by
integration of simple mechanisms for perception and manipulation of
the robot. At the end of the course there is a contest between the
robots that the participants have constructed.
The theoretical part of the course deals with fundamental concepts
in robotics, kinematics, navigation and digital control. The practical
part of the course includes studies of sensors and manipulators, the
construction and programming of microcontrollers, and concrete advice
on the building project.
Requirements
The requirements for passing the course is to
take the exam (individual) and complete the project including a report
(in a group of 4 students).
Schedule
The following table gives an outline of the schedule for the
course. Please note that it is subject to changes.
| Lect1 |
25/3 10-12, D41 |
Introduction |
slides |
| Lect2 |
1/4 10-12, D41 |
Locomotion |
slides |
| Lab1 |
1/4 15-17, 1535 |
Introduction to the project lab |
robaut08-proj1.pdf |
| Lect3 |
3/4 13-15, E32 |
Kinematics and control |
slides |
| Lect4 |
8/4 10-12, D41 |
Sensors and perception |
slides |
| Lect5a |
10/4 13-14, E32 |
How Robots Play Soccer
Kai Huebner |
Thomas Röfer's slides
robocup video |
| Lect5b |
10/4 14-15, E32 |
Ball Blaster
Last year's winning team |
- |
| Lab2 |
10/4 15-17, 22:an
Teknikringen 14 |
More info on the project |
robaut08-proj2.pdf
classviewer.tar.gz |
| Lect6 |
15/4 10-12, D41 |
Localization and Mapping |
slides
chi2 table
demo instructions |
| Lect7 |
17/4 13-15, E32 |
Localization and Mapping cont'd |
slides
EKF example
EKF solution example |
| Lect8 |
22/4 10-12, D41 |
Planning and Navigation |
slides |
Fixed lab hours
The schedule below shows the date and time of when the lab assistant
is scheduled to be in the lab. This is a good tim eto show that you
reached milestones and ask questions.
| 8/4 |
15-17 |
| 22/4 |
15-17 |
| 7/5 |
15-17 |
Grading
The grade on the course is given as the average
grade from the exam and the project. When rounding is needed the grade
will be rounded towards the grade of the project. That is if A on the
project and B on the exam you get an A. You need a passing grade (>=E)
on both the exam and the project to pass the course.
Exam grading
The exam consists of two parts.
- The first part
of the exam requires only relatively short answers and will only be
corrected as pass/fail. If you pass this part you pass the exam. If
you do not pass you fail the exam and the rest of the exam will not be
corrected.
- The second part of the exam can give you higher grades. The
maximum score (without bonus credits) is 50. Bonus points (earned for
completeing milestones on time) are added to the score.
Project grading
The grade on the project work will in most
cases be the same for all group members. However, if it is clear that
some members are doing significantly less work then others
differentiated grades may be given. The first grade levels on the
project have the following requirements. Please refer to the
project page) for more detailed information about
the milestones etc. To reach a certain grade you need to fulfill the
requirements for the previous grade levels as well.
The following table lists various things that can earn you higher grades
| +1 |
Well written report |
| +1 |
Special skill
Localization on the field |
| +1 |
Special skill
Define your own |
| Milestone 0 |
8/4 17:00 |
| Milestone 1 |
22/4 17:00 |
| Milestone 2 |
7/5 17:00 |
| Competition |
15/5 14-17, E1 (open from 13 for setup and tests) |
| Exam |
22/5 14-19, E31-36?? |
| Reports due |
5/6 15:00, patric@nada.kth.se |
Course material
The course book is "Introduction to
Autonomous Mobile Robots" by Roland Siegwart and Illah R. Nourbakhsh"
published by the MIT Press.
Lectures notes are also available.
If you have any questions regarding the course you can contact
- Lecturer: Patric Jensfelt, patric@nada.kth.se , 08-790 6731 (general questions and lectures)
- Lab assistant Mattias Bratt (mattias dot bratt AT gmail dot com) (questions about the project)
