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Information
| Code | CENG0051 |
| Name | Fundamentals of Robot Autonomy |
| Term | 2023-2024 Academic Year |
| Term | Fall |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | İngilizce |
| Level | Yüksek Lisans Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Dr. Öğr. Üyesi Barış ATA |
| Course Instructor |
1 |
Course Goal / Objective
This course aims to provide a comprehensive understanding of the fundamental concepts and techniques involved in designing autonomous robots. By the end of the course, students will have gained a deep understanding of the principles and practices that underpin robot autonomy.
Course Content
This course covers the basics of robot autonomy, including robot perception and sensing, motion planning and control, and decision-making. Topics include robot sensors, state estimation, motion planning algorithms, control methods, and decision-making frameworks.
Course Precondition
Knowledge of basic programming, linear algebra, and probability theory.
Resources
Robotics: Modelling, Planning, and Control, by Bruno Siciliano and Lorenzo Sciavicco.
Notes
Probabilistic Robotics, by Sebastian Thrun, Wolfram Burgard, and Dieter Fox.
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Understand the principles of robot autonomy and its applications. |
| LO02 | Analyze perception systems for robots. |
| LO03 | Implement control algorithms for robots. |
| LO04 | Understand decision-making and planning for robots. |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | On the basis of the competencies gained at the undergraduate level, it has an advanced level of knowledge and understanding that provides the basis for original studies in the field of Computer Engineering. | 4 |
| PLO02 | Bilgi - Kuramsal, Olgusal | By reaching scientific knowledge in the field of engineering, he/she reaches the knowledge in depth and depth, evaluates, interprets and applies the information. | 3 |
| PLO03 | Yetkinlikler - Öğrenme Yetkinliği | Being aware of the new and developing practices of his / her profession and examining and learning when necessary. | 2 |
| PLO04 | Yetkinlikler - Öğrenme Yetkinliği | Constructs engineering problems, develops methods to solve them and applies innovative methods in solutions. | 2 |
| PLO05 | Yetkinlikler - Öğrenme Yetkinliği | Designs and applies analytical, modeling and experimental based researches, analyzes and interprets complex situations encountered in this process. | 4 |
| PLO06 | Yetkinlikler - Öğrenme Yetkinliği | Develops new and / or original ideas and methods, develops innovative solutions in system, part or process design. | |
| PLO07 | Beceriler - Bilişsel, Uygulamalı | Has the skills of learning. | 2 |
| PLO08 | Beceriler - Bilişsel, Uygulamalı | Being aware of new and emerging applications of Computer Engineering examines and learns them if necessary. | 1 |
| PLO09 | Beceriler - Bilişsel, Uygulamalı | Transmits the processes and results of their studies in written or oral form in the national and international environments outside or outside the field of Computer Engineering. | |
| PLO10 | Beceriler - Bilişsel, Uygulamalı | Has comprehensive knowledge about current techniques and methods and their limitations in Computer Engineering. | 1 |
| PLO11 | Beceriler - Bilişsel, Uygulamalı | Uses information and communication technologies at an advanced level interactively with computer software required by Computer Engineering. | 2 |
| PLO12 | Bilgi - Kuramsal, Olgusal | Observes social, scientific and ethical values in all professional activities. | 2 |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Introduction to Robot Autonomy | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 2 | Robot Sensing and Perception | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 3 | Robot Actuation and Control | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 4 | Robotics and Computer Vision | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 5 | Machine Learning Fundamentals | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 6 | Perception and Learning in Robotics | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 7 | Motion Planning and Navigation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 8 | Mid-Term Exam | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 9 | Multi-Robot Systems and Swarm Robotics | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 10 | Robot Learning from Demonstration | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 11 | Robot Perception and Mapping | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 12 | Robot Control in Dynamic Environments | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 13 | Human-Robot Interaction and Collaborative Robotics | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 14 | Robot Planning and Decision Making | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 15 | Review | Reading the lecture notes | Öğretim Yöntemleri: Soru-Cevap |
| 16 | Term Exams | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
Student Workload - ECTS
| Works | Number | Time (Hour) | Workload (Hour) |
|---|---|---|---|
| Course Related Works | |||
| Class Time (Exam weeks are excluded) | 14 | 3 | 42 |
| Out of Class Study (Preliminary Work, Practice) | 14 | 5 | 70 |
| Assesment Related Works | |||
| Homeworks, Projects, Others | 0 | 0 | 0 |
| Mid-term Exams (Written, Oral, etc.) | 1 | 14 | 14 |
| Final Exam | 1 | 28 | 28 |
| Total Workload (Hour) | 154 | ||
| Total Workload / 25 (h) | 6,16 | ||
| ECTS | 6 ECTS | ||