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I400 / I590 / B659: Intelligent Robotics

Spring 2014

Instructor: Kris Hauser

 

Intelligent physical agents use sophisticated algorithms to plan their motions, sense and understand the world, react to changing disturbances, and interact with human operators and other agents. Intelligent Robotics introduces basic mathematical models and practical algorithms for modeling, planning, and perception in modern robotics. Potential applications of these techniques include robots, intelligent vehicles, virtual characters, study of human cognition, biological molecules, and smart medical devices.

Subjects will include:

  • Modeling and representation
    2D/3D transformations, 2D/3D geometry, forward and inverse kinematics, motion representations, configuration space.
  • Motion planning
    Bug algorithms, grid-based planning, sample-based motion planning, nonholonomic systems
  • Introductory control theory
    Feedback control and asymptotic stability, optimal and model predictive control.
  • Sensing, estimating, and interpreting motion
    State estimation, 3D mapping, calibration.
  • Software and hardware system integration
    Simulation software, visualization and GUIs, distributed system middleware (ROS)

 

Course materials will consist of lectures, homework assignments, and interactive labs. Students will work in small teams on robot simulation platforms as well as real robot hardware to complete a semester project.

Prerequisites: Two semesters of programming, calculus. Python and Linux experience strongly recommended.