Postgraduate Course: Robotics: Science and Systems (INFR11092)
Course Outline
| School | School of Informatics |
College | College of Science and Engineering |
| Course type | Standard |
Availability | Available to all students |
| Credit level (Normal year taken) | SCQF Level 11 (Postgraduate) |
Credits | 20 |
| Home subject area | Informatics |
Other subject area | None |
| Course website |
http://www.inf.ed.ac.uk/teaching/courses/rss/ |
Taught in Gaelic? | No |
| Course description | This course will be a Masters degree level introduction to several core areas in robotics: kinematics, dynamics and control; motion planning; state estimation, localization and mapping; vision for robotics. Lectures on these topics will be complemented by a large practical that exercises knowledge of a cross section of these techniques in the construction of an integrated robot in the lab, motivated by a task such as robot navigation. Also, in addition to lectures on algorithms and lab sessions, we expect that there will be several lecture hours dedicated to discussion of implementation issues - how to go from the equations to code.
The aim of the course is to present a unified view of the field, culminating in a practical involving the development of an integrated robotic system that actually embodies key elements of the major algorithmic techniques. |
Information for Visiting Students
| Pre-requisites | None |
| Displayed in Visiting Students Prospectus? | Yes |
Course Delivery Information
| Not being delivered |
Summary of Intended Learning Outcomes
- model the motion of robotic systems in terms of kinematics and dynamics
- analyse and evaluate a few major techniques for feedback control, motion planning and computer vision as applied to robotics
- translate a subset of standard algorithms for motion planning, localization and computer vision into practical implementations
- implement and evaluate a working, full robotic system involving elements of control, planning, localization and vision |
Assessment Information
Written Examination 50
Assessed Practicals 40
Assessed Assignments 10 |
Special Arrangements
| None |
Additional Information
| Academic description |
Not entered |
| Syllabus |
The tentative coverage of topics is as follows:
- Kinematics - forward and inverse
- Dynamics
- Control
- Sensing - proprioception, etc.
- Motion planning - basics and sampling based methods
- Motion planning - planning under uncertainty, etc.
- State estimation, localization and mapping
- Implementing SLAM; Multi-modal sensor fusion
- Image acquisition
- Edge detection and segmentation
- Shape description and matching
- Two-view geometry
- Interest points and regions
- Recognition of specific objects
- Visual servoing and ego-motion estimation |
| Transferable skills |
Not entered |
| Reading list |
H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, Principles of Robot Motion: Theory, Algorithms, and Implementations.
S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics.
D.A. Forsyth, J. Ponce, Computer Vision: A Modern Approach.
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| Study Abroad |
Not entered |
| Study Pattern |
Lectures: 30
Tutorials: 0
Timetabled Laboratories: 8
Non-timetabled assessed assignments: 42
Private Study/Other: 100 |
| Keywords | Not entered |
Contacts
| Course organiser | Dr Michael Rovatsos
Tel: (0131 6)51 3263
Email: |
Course secretary | Miss Kate Weston
Tel: (0131 6)50 2701
Email: |
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