ECE 595: Autonomous Mobile Robots Spring 2012 Department of Electrical & Computer Engineering Dr. Rafael Fierro Instructor Rafael Fierro ECE Bldg. 133B Tel. (505) 277-4125 Fax. (505) 277-1439 E-mail: rfierro(AT)ece(dot)unm(dot)edu MARHES Lab

Announcements January 26 No lecture today so you can attend the Secretary of Energy Steven Chu visit Make-up lecture Tuesday January 31st, same time/place 12:30pm, ECE 210 ROS hands-on tutorial Thursday February 2nd, 11:00am-1:45pm, MARHES Lab, L217 January 18, 2012 Room change: ECE 210 January 16, 2012 I will use the class web page to post course documents (e.g., notes, slides, homework solutions, etc.). Please visit the class web page and check your email regularly.

General Information

Credit(s): 3

Advances in information technology, sensors, networking, and control, present unprecedented opportunities and new challenges. We now have the infrastructure necessary to develop truly intelligent robotic systems. Multiple, autonomous, networked robots that function cooperatively in unknown, dynamic environments can realize such systems.

ECE 595 Autonomous Mobile Robots introduces the students to the challenging and exciting field of Robotics. It covers fundamental concepts in the mobility, sensing, and control capabilities of mobile robots. After an introduction to kinematics, sensing and control the students are exposed to more advanced techniques in motion planning, sensor fusion and nonlinear control. Practical mobile robot applications will be covered. These applications involve the coordination of multiple autonomous vehicles working cooperatively within uncertain environments. Finally, the future of autonomous mobile robots will be discussed.

• Time and location: Tuesday-Thursday 12:30am-1:45pm, ECE 210.

• Format: Homework will require some programming. Reading and paper presentations. Class participation. Term project.

Course Description (tentative)

Introduction. Robot manipulators: Kinematics, dynamics, control, architectures, and applications. Mobile Robots: Introduction, concepts and definitions. Components of a mobile robot. Kinematic models. Mobile robot control. Motion planning. Sensing and sensor fusion. Introduction to Kalman Filtering. Vision. Localization. Mapping. Multi-robot coordination. Applications of Autonomous Mobile Robots.

Prerequisites

Grading and Examination

Assignments and Homework