CP7030 ROBOTICS

CP7030      ROBOTICS

UNIT I           LOCOMOTION AND KINEMATICS

Introduction to Robotics – key issues in robot locomotion – legged robots – wheeled mobile robots – aerial mobile robots – introduction to kinematics – kinematics models and constraints – robot maneuverability  

UNIT II         ROBOT PERCEPTION

Sensors for mobile robots – vision for robotics – cameras – image formation – structure from stereo – structure from motion – optical flow – color tracking – place recognition – range data  

UNIT III          MOBILE ROBOT LOCALIZATION

Introduction to localization – challenges in localization – localization and navigation – belief representation – map representation – probabilistic map-based localization – Markov localization – EKF localization – UKF localization – Grid localization – Monte Carlo localization – localization in dynamic environments  

UNIT IV        MOBILE ROBOT MAPPING

Autonomous map building – occupancy grip mapping – MAP occupancy mapping – SLAM – extended Kalman Filter SLAM – graph-based SLAM – particle filter SLAM – sparse extended information filter – fastSLAM algorithm   

UNIT V         PLANNING AND NAVIGATION  

 Introduction to planning and navigation – planning and reacting – path planning – obstacle avoidance techniques – navigation architectures – basic exploration algorithms  

REFERENCES: 

1. Roland Seigwart, Illah Reza Nourbakhsh, and Davide Scaramuzza, “Introduction to autonomous mobile robots”, Second Edition, MIT Press, 2011. 

2. Sebastian Thrun, Wolfram Burgard, and Dieter Fox, “Probabilistic Robotics”, MIT Press, 2005. 

3. Howie Choset et al., “Principles of Robot Motion: Theory, Algorithms, and Implementations”, A Bradford Book, 2005. 

4. Gregory Dudek and Michael Jenkin, “Computational Principles of Mobile Robotics”, Second Edition, Cambridge University Press, 2010. 

5. Maja J. Mataric, “The Robotics Primer”, MIT Press, 2007.