Course objectives

This course is an introduction and survey of artificial intelligence methods for mobile robots (ground, aerial, or marine) for science and engineering majors. It covers both the theory and the practice of unmanned systems, focusing on biological and cognitive principles which are often quite different from control theory formulations. The course emphasizes software organization and algorithms.

Programming.   Students should be competent in Java or C. No prior knowledge of AI or robotics is required. Programming projects may be either done on CRASAR ground or aerial robots or on robots being used for thesis research. Specific Objectives. By the end of the Fall Semester, the student should be able to:

• describe the different levels of teleoperation and autonomy
• describe the 4 primitives of AI robotics (sense, act, plan, learn) and how those are represented within a hybrid deliberative/reactive architecture
• understand the major ways of organizing and combining behaviors in behavior-based systems
• list the most common sensors, their strengths and weakness and state of the art
• show familiarity with the major path planning and simultaneous localization and mapping (SLAM) algorithms
• understand the dimensions and facets of coordination of teams of robots
• be able to discuss the merits of affective computing and the principles of human-robot interaction.

Grading

Tests (3, approximately 1X month): 30%
Literature Survey: 15%
Behavioral programming project (mid-term): 25%
Final programming project: 30%

Required textbook or materials

The required textbook is Introduction to AI Robotics by Murphy, MIT Press. This book is under revision and additional material will be supplied.

Due to instructor travel, some lectures will be provided as podcasts.

Policy on Missed Work

If you miss work: Material missed due to recognized absences (illness with doctor's excuse, death in the family) can be made up for full credit. Late material is accepted solely at the discretion of the instructor, assuming that at least 1 class period's prior notice was given.

Reminder to students who anticipate being absent from class due to religious observances

Students who anticipate the necessity of being absent from class due to the observation of a major religious observance must provide notice of the date(s) to the instructor, in writing, by the second class meeting.