CS 474/574: Autonomous Systems
Spring 1997
PRELIMINARY LECTURE PLAN
The reading material for this course will be in the form of a book
(Arkin: "Behavior-Based Robotics") and two packets which can be
purchased at Tyco located on Broadway across from the Yale Coop. The
readings in the packet are taken from the following sources (many of
which will be on reserve or are otherwise available in the Becton
science library):
Books:
Obstacle Avoidance and Navigation in the Real World by a Seeing
Robot Rover by H. Moravec, Stanford AI memo AIM-340, 1980.
Autonomous Robot Vehicles edited I. Cox and G. Wilfong,
Springer Verlag, 1990.
Autonomous Mobile Robots: Perception, Mapping, and Navigation
edited by S.S. Iyengar and A. Elfes, IEEE Computer Society Press, 1991.
Autonomous Mobile Robots: Control Planning and Architecture
edited by S.S. Iyengar and A. Elfes (eds), IEEE Computer Society Press, 1991.
Mobile Robots: Inspiration to Implementation by J. Jones
and A. Flynn, A.K. Peters, 1993.
Introduction to Robotics by P. McKerrow, Addison Wesley, 1991.
Robotic Engineering: An Integrated Approach by R. Klafter
et al., Prentice Hall, 1989.
Feedback Control of Dynamic Systems (second edition) by
G. Franklin et al., Addison Wesley, 1991.
Robot Motion Planning by J-C. Latombe, Academic, 1991.
Machine Vision by R. Jain et al., McGraw-Hill, 1995.
Journals:
Various issues of Algorithmica, the International Journal of Robotics
Research, IEEE Transactions on PAMI and the IEEE Transactions on
Robotics and Automation.
Lectures
Historical Perspective
Week 1 (Jan 11-15)
- Course Overview (Arkin Chaps 1 and 2)
- Moravec: Dissertation Excerpt
- Nilsson, A Mobile Automaton: An Application of Artificial
Intelligence Techniques
- Giralt, Chatila, Vaisset: An
Integrated Navigation and Motion Control System for Autonomous
Multisensory Mobile Robots
Week 2 (Jan 18-22)
- Horswill: Polly: A Vision-Based Artificial Agent
- Frob Lecture 1: Basic concepts.
- Scout intro and Frob Lecture 2: Using the simulator.
Assignment 1: The Kamikaze Robot.
Sensing and Control
Week 3 (Jan 25-29)
- Motors and encoders (Jones Chap. 7)
- Sensing (Arkin Chap 7.1-7.3)
- Kuc and Viard: A Physically Based Navigation Strategy for
Sonar-Guided Vehicles.
Week 4 (Feb 1-5)
- Behavior-based programming (Arkin Chaps. 3 and 4)
Week 5 (Feb 8-12)
- Frob lecture (events and monadic constructs)
- Classical control ideas (Franklin et al. Chap 3)
- van Turennout et al. : Wall-following Control of a Mobile Robot
Goal-Directed Motion
Week 6 (Feb 15-19)
- Spatial Transforms (McKerrow pp. 133-157).
- Kinematics and odometry (McKerrow pp. 402-420).
Week 7 (Feb 22-26)
-
Bug Algorithms and Maze search: Lumelsky and Stepanov:
Path-Planning Strategies for a Point Mobile Automaton Moving Amidst
Unknown Obstacles of Arbitrary Shape, (Algorithmica).
- Sensor-based exploration: Taylor, Kriegman, `` Vision-Based
Motion Planning and Exploration Algorithms for Mobile Robots.''
Assignment 2: Implement bugs.
Week 8 (Mar 1-5)
Global Path Planning and Mapping
Week 9 (Mar 22-26)
- Frob lecture
- Arkin Chap. 5
Week 10 (Mar 29-Apr 2)
- Arkin Chap. 6
Kuipers and Byun: A Robot Exploration and Mapping Strategy
Based on a Semantic Heirarchy of Spatial Representations.
- McDermott lecture
Week 11 (Apr 5-9)
Vision and Interaction
- Arkin Chap 7
- XVision, FVision
Assigment 3: Vision-based pursuit
Week 12 (Apr 12-16)
- Path planning in a known environment and configuration space
(Latombe Chaps. 1, 4)
- Potential Field Approaches (Latombe Chap. 7)
Outlook
Week 13 (Apr 19-23)
Reading period : Robot Competition
Last modified Jan. 6, 1999.