This is the first of a two-quarter course sequence that addresses the
problems of controlling and motivating robots to act intelligently in
dynamic, unpredictable environments. In this first course, topics
will include mobile robot kinematics, motion planning, and control.
To demonstrate these concepts, we will be looking at mobile robots and
assignments will be done in Matlab and USARSim. USARSim is a high
fidelity simulation environment built on the Unreal Tournament game
engine and allows for realistic simulation and control of virtual
robotic agents. Students are required to purchase the Unreal
Tournament 2004 game. Lectures will be complemented by
project-based assignments, discussions and in-class student
presentations. The final project will be a robotics competition in
USARSim where teams are tasked to program their robots to autonomously
navigate through obstacle courses of varying difficulty.
Prerequisites: Linear Algebra and Ordinary Differential Equations.
M. Ani Hsieh
Office: 159 Curtis Hall
Office Hours: Mon 4:00-5pm
Office: SAS Lab (Hess Bldg 10F)
E-mail: thomas dot w dot mather at drexel dot edu
Office Hours: Thurs 3-5pm
Location: Hess 10F
Required Text & SoftwarePrinciples of Robot Motion: Theory, Algorithms, and Implementations
by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun
Unreal Tournament 2004
Official Unreal Tournament Patch V3369
NOTE: It is EXTREMELY important that you follow the installation instructions in the USARSim Manual EXACTLY. READ the installation directions FIRST before you install.
Introduction to Autonomous Mobile Robots
by Roland Siegwart and Illah R. Nourbakhsh
by Sebastian Thrun, Wolfram Burgard and Dieter Fox
This course will have a strong focus hands-on programming experience. As such, there
will be extensive programming assignments, in-class discussions, demonstrations, and
project presentations. All assignments are due at 11:59pm EST on the due date and
must be submitted electronically via e-mail to MEM380.grader_at_gmail.com.
With the exception of Matlab code, all assignments must be written up and submitted as a single
PDF file not to exceed 5 MBs in size. Matlab code must be submitted following the exact submission
guidelines outlined for each assignment. Failure to adhere to the guidelines will result in runtime
errors. If we cannot run your code, this will automatically result in a missed assignment.
Failure to comply to these guidelines will result in automatic rejection of your
submissions without notification. Late assignments will not be accepted.
Grading will follow the breakdown listed below:
Final Project: 40%
Class Participation: 10%
In addition to class participation, you are expected to help each other with assignments and the final project. To evaluate your teamwork, each person will complete an evaluation survey twice during the quarter. Once at Week 6 and at Week 11. Completion of the survey is mandatory. In the survey, you will also be asked to ask to nominate class individuals who have significantly contributed to your understanding of the course materials. People who consistently participate in peer learning efforts will be appropriately rewarded. Teamwork is even more critical once the Final Project has been assigned. There will be a section in Week 10s evaluation survey for each member to describe in detail their teammates and their own contributions to the overall project. In general, it is impossible for each member to do an exactly equal portion of the work, therefore if someone claims everyone in his/her n-person team did (100/n)% of the work, it is likely that he/she is lying. However, do try and keep everyone involved and arrange it so that each person gets a chance to be responsible for different parts of the lab assignment for each week, i.e. programming, testing, writing, etc.
Support for the various course material including assignments and toolboxes is funded by