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Syllabus: Introduction to Robotics
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Instructor: Ryan Meuth (rmeuth@[Link])
This course is Co-Listed as Computer Engineering 300 and Electrical Engineering 300.
Course Number:
Computer Engineering - 73120
Electrical Engineering 73119
Prerequisites:
Programming Course of some kind (CS 153 level recommended)
Stat 215/217
Summary:
Robotics is an inherently interdisciplinary engineering field, encompassing electrical, computer and
mechanical engineering, as well as computer science, mathematics, physics, systems engineering,
and in some instances psychology and cognitive neuroscience. The breadth of the problems
presented by robotics development encourages the integration of knowledge and problem solving
methods from a wide range of fields. With the advent of autonomous vehicles in the military and
consumer robotics products, such as the iRobot Roomba, the robotics industry is growing rapidly,
and is expected to continue to do so as consumer spending on robotics increases. Study of the
discipline of robotics can give engineers a valuable perspective on systems integration, as well as
experience in a wide range of fields and real-world problem solving, increasing the flexibility of the
engineer in a rapidly changing world.
This course will introduce students to technologies behind robotics projects ranging from the
historical to the state of the art, as well as fundamentals on robotics architectures, sensing,
navigation, and control. Topics covered will include basic sensor and image processing, sensor
fusion, world modeling, planning, kinematics, control, software agents, machine learning and
simulation. Instruction will utilize example problems presented by real-world competitions such as
the Intelligent Ground Vehicle Competition (IGVC), AHS First Responder, and Association for
Unmanned Vehicle Systems International (AUVSI) Unmanned Aerial Vehicle (UAV), and Unmanned
Underwater Vehicle (UUV) competitions.
Students enrolled in the course will construct and program a small mobile robot from a kit, which
they will learn to program to move, react to sensor states, perform simple tasks, and ultimately
interact with other class robots.
In addition to choosing their own projects, students will have the option to select semester projects
that can be incorporated into MS&T's robotics competition entries such as the IEEE Robotics
Competition and Intelligent Ground Vehicle Competition.
Course Goals:
Introduce students to methods used in robotics and autonomous vehicles, including:
Sensing:
Sensor Processing
Image Processing (including Stereo-vision)
Sensor Fusion
Pose Estimation
Planning:
World-Models
Maps
Rules
Behavior-Based Architectures
Reactive
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Subsumption
Path Planning
Navigation Algorithms
Acting:
Kinematics
Wheeled Robot (2D Kinematics)
Arm (3D Kinematics)
Fixed Wing Aircraft
Rotary Aircraft
Motor Control
Software Agents
Machine Learning
Simulation Environments
Improve student's presentation skills
Give students experience with robotics research projects
Assignments:
6 Bi-weekly Projects (intended to be implemented in Matlab)
1 Semester Project including
Presentation (25%)
Paper (75%)
At least one 30 min presentation to the class on a research topic
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