TÜRKÇE
ENGLISH
Information
| Code | CEN449 |
| Name | Introduction to Autonomous Robots |
| Term | 2024-2025 Academic Year |
| Semester | 7. Semester |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | İngilizce |
| Level | Lisans Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Dr. Öğr. Üyesi Barış ATA |
| Course Instructor |
1 |
Course Goal / Objective
To learn the theoretical and algorithmic andaspects of the main techniques for robot autonomy, in particular motion planning, perception, localisation and SLAM.
Course Content
Fundamental guidelines for equipping mobile autonomous robots with planning, perception, and decision-making. Algorithmic methods for optimizing trajectories, planning robot motion, robot perception, and, simultaneous localization and mapping (SLAM).
Course Precondition
None
Resources
Nikolaus Correll, Bradley Hayes, Christoffer Heckman and Alessandro Roncone. Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms, MIT Press, 2022
Notes
S. Thrun, W. Burgard, D. Fox. Probabilistic Robotics. MIT Press, 2005
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Gain a fundamental understanding of the autonomy approaches used in mobile autonomous robots. |
| LO02 | Understand the current use and limitations of mobile robots. |
| LO03 | Read and understand journal and conference papers describing current research in robotics. |
| LO04 | Be able to generate a path for a robot moving around an area with obstacles. |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | Has capability in the fields of mathematics, science and computer that form the foundations of engineering | 5 |
| PLO02 | Bilgi - Kuramsal, Olgusal | Identifies, formulates, and solves engineering problems, selects and applies appropriate analytical methods and modeling techniques, | 4 |
| PLO03 | Bilgi - Kuramsal, Olgusal | Analyzes a system, its component, or process and designs under realistic constraints to meet the desired requirements,gains the ability to apply the methods of modern design accordingly. | |
| PLO04 | Bilgi - Kuramsal, Olgusal | Ability to use modern techniques and tools necessary for engineering practice and information technologies effectively. | 2 |
| PLO05 | Bilgi - Kuramsal, Olgusal | Ability to design and to conduct experiments, to collect data, to analyze and to interpret results | |
| PLO06 | Bilgi - Kuramsal, Olgusal | Has ability to work effectively as an individual and in multi-disciplinary teams, take sresponsibility and builds self-confidence | 4 |
| PLO07 | Beceriler - Bilişsel, Uygulamalı | Can access information,gains the ability to do resource research and uses information resources | 5 |
| PLO08 | Beceriler - Bilişsel, Uygulamalı | Awareness of the requirement of lifelong learning, to follow developments in science and technology and continuous self-renewal ability | |
| PLO09 | Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği | Ability to communicate effectively orally and in writing, and to read and understand technical publications in at least one foreign language | 4 |
| PLO10 | Yetkinlikler - Öğrenme Yetkinliği | Professional and ethical responsibility, | |
| PLO11 | Yetkinlikler - Öğrenme Yetkinliği | Awareness about project management, workplace practices, employee health, environmental and occupational safety, and the legal implications of engineering applications, | |
| PLO12 | Yetkinlikler - Öğrenme Yetkinliği | Becomes aware of universal and social effects of engineering solutions and applications, entrepreneurship and innovation, and knowledge of contemporary issues |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Introduction | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 2 | Locomotion | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 3 | Mobile Robot Kinematics | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 4 | Grasping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 5 | Actuators | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 6 | Sensors | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 7 | Introduction of Computer Vision | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 8 | Mid-Term Exam | Reading research articles | Ölçme Yöntemleri: Ödev |
| 9 | Mapping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 10 | Path Planning | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 11 | Manipulation | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 12 | Localization | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 13 | Simultaneous Localization and Mapping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 14 | Article Presentations I | Article scanning, presentation preparation | Öğretim Yöntemleri: Grup Çalışması, Proje Temelli Öğrenme , Örnek Olay |
| 15 | Article Presentations II | Article scanning, presentation preparation | Öğretim Yöntemleri: Grup Çalışması, Proje Temelli Öğrenme , Örnek Olay |
| 16 | Term Exams | Reading lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Reading 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 | 1 | 15 | 15 |
| Mid-term Exams (Written, Oral, etc.) | 0 | 0 | 0 |
| Final Exam | 1 | 30 | 30 |
| Total Workload (Hour) | 157 | ||
| Total Workload / 25 (h) | 6,28 | ||
| ECTS | 6 ECTS | ||