Timing and Structure
Lent term. Lectures and coursework. Assessment: 100% coursework.
4M20 useful; 3F2 useful; 3F3 useful
The aims of the course are to:
- This course teaches the foundations of autonomous mobile robots, covering topics such as perception, motion control, and planning.
- It also teaches algorithmic strategies that enable the coordination of multi-robot systems and robot swarms.
- The course will feature several practical sessions with hands-on robot programming. The students will undertake mini-projects, which will be formally evaluated through a report and presentation.
As specific objectives, by the end of the course students should be able to:
- understand how to control a mobile robot;
- understand how a robot perceives its environment;
- understand how a robot plans actions (navigation paths);
- know paradigms of coordination in systems of multiple robots;
- know classical multi-robot problems and their solution methods;
- Know how to use ROS (Robot Operating System, http://www.ros.org).
Students are expected to have laptops running Linux, with installations of ROS Kinetic and Gazebo. An installation guide will be provided.
Students will be expected to hand in two reports and attend an individual questioning session.
[Coursework activity #1 : Assignments]
The assignments will consist of two elements: (1) experimental work using a robot simulator and real robots, and (2) theory / understanding. The exercises will require data collection and analysis. The balance between practice and theory will depend on the exercise topic. Each student will submit a written report.
Each assignment will be marked on a scale of 0-100, and will compose 30% of the mark.
60% (30% each) for assignment
[Coursework activity #2 : ]
A set of proposals will be announced at the start of term. Students will form groups of 2-3 and select a project proposal. Each proposal will include a core and a set of extensions; Engineering students will be expected to complete the extensions.
The project will compose 40% of the mark and will be evaluated on a scale of 0-100. It will be handed in as group-work in groups of 2-3, and the report will clearly state what each group member contributed. The overall project mark will be composed by a report score (60%) and a presentation score (40%). Project marks will reflect the contribution of each team member. Every team member is expected to make a similar, significant contribution to the project, and where this happens all team members will receive the same mark. The report requirements will differ for students. Engineering students will hand in 6-page double-column report (conference-formatted)
Siegwart, R., Nourbakhsh, I.R. & Scaramuzza, D. (2004). . MIT Press.
Thrun, S., Wolfram B. & Dieter F. (2005). . MIT Press.
Mondada, F. & Mordechai B. (2018) . Springer
Siciliano, B. & Khatib, O. (2016) . Springer.
Mesbahi, M. & Egerstedt, M. (2010) . Princeton University Press.
Please refer to Form & conduct of the examinations.
Last modified: 07/10/2020 08:53