After the successful completion of the course, the students will be able to:
- Know the basic types of sensors used in robotic systems
- Know the basic types of motors/motion models used in robotic systems
- Know the basic algorithms for path planning, mapping, localization, exploration and coverage applied in autonomous systems
- Design the architecture and functionalities of an autonomous robotic system, given initial specifications
Course Content (Syllabus)
The course aims at teaching what an autonomous system is and how it operates. Initially, an introduction to the autonomy and behaviors concepts is performed, as well as in their types of representations (Stimulus-Response diagrams, FSAs etc.), including their ways of encoding and combination (motor schema/subsumption). Next, the structure and design of basic autonomy systems architectures is presented (hierarchical, reactive, blackboard and hybrid), as well as the way behaviors are incorporated in them. Finally, an inspection of various algorithms that essentially are presented as behaviors is performed, including localization and mapping (SLAM), path planning, autonomous coverage and exploration, as well as applications of multiple robots and social robots.