(Fall, 2004: 9:30 Tu/Th, 9:05 M, Prerequisite: POD)

Description (Theme: Mechanics and Behavior)

This course provides an introduction to robotics with a focus on autonomous mobile robots. The two major issues we will deal with are: (1) cognitive behavior, and (2) motion. Cognitive behavior addresses problem solving using sensory inputs and desired goals. Motion deals with various aspects of movement from simple robotic arm movement to autonomous rovers in unknown environments.

Instructor: Walter D. Potter

Office: GSRC-113 (enter through 111), Phone: 542-0361, Email: potter@uga.edu

Hours: By Appointment, Drop In, or __(hours to be determined)__

Notes: Be sure to leave a note/voice-mail/email if I'm not in. If you stop by and the door to 111 is locked, it is possible that I am in the office. Ring the doorbell and wait several seconds.

Text (required):

1) Behavior Based Robotics, by Ronald C. Arkin, MIT Press, 1998.

2) Microelectronics and Robotics Laboratory Safety Guidelines (on my web site)

References (in Library):

1) Robotic Explorations: A Hands-On Introduction to Engineering, by Martin

2) Mobile Robots: A Practical Introduction, by Nehmzow

3) Current literature, texts, and items on reserve in the Science Library

Bots (available):

LEGO MindStorms – Robotics Invention Systems (1.5 & 2.0)

Parallax Basic Stamp BoeBots and PPRK (PalmBots & iPAQBots)

ROYO-Bots, Lynxmotion Walkers, ER-1 Bots, and BotBall Bots

Grading:

Assignments

40%

Lab & research reports

Participation

15%

Group projects & discussion

Midterm Exam

20%

around Oct 12th

Final Exam

25%

Thursday Dec 16th: 8am

Policies:

Each student is responsible for his/her own work. Any evidence of academic dishonesty will not be tolerated, and will be subject to disciplinary action. Attendance is required and will be graded as part of the participation category. Late assignments are not accepted. No make-up exams are given.

NOTE: The course syllabus provides a general plan for the course; deviations may be necessary.
COURSE OBJECTIVES / EXPECTED LEARNING OUTCOMES

Students completing Introduction to Robotics will have been exposed to a number of lecture topics as well as many practical topics. Lecture topics include introduction to robotics, cybernetics, history of robotics, robotics in fact and fiction, sensors, control, intelligent behavior, autonomous robot architectures, robot reasoning, knowledge representation, and planning. Practical topics include robot construction, wiring diagrams, motors, gears, principles of motion, feedback, microprocessors, sensors, and programming for intelligent behavior. The course will consist of lectures and lab-style activities. Students will be graded on the standard A to F grading scale, and will provide end of course evaluations on the instruction and course content following established Computer Science Department course evaluation procedures.

TOPICAL OUTLINE

(Each major topic item is covered at the approximate rate indicated. However, due to the dynamic nature of the in-class activities, it is very likely that there will be substantial variation from this schedule.)

Week1: Introduction and History of Robotics

Cybernetics

Artificial Intelligence

Robotics

Week 3: Robot Control Architectures

Reactive & Deliberative

Subsumption

Schema-Based

The Feedback Control Loop

Week 5: What Can We Learn From Animal Behavior?

Insects

Mammals

Week 6: What Are Robotic Behaviors?

Reaction

Action

Navigation

Stimulus-Response

Week 8: Construction Architectures

Basic Electronics

Motors and Gears

Sensors

Construction Rules and Techniques

Mobile Architecture

Reasoning Architecture

Week 12: Intelligent Behavior

Decision Making On The Move

Self-Survival

Achieving Goals

Adaptation

Week 16: Robot Applications

Search and Rescue

Surveillance

Manufacturing

Health Care

Automotive

Week 17: Advanced Topics

Learning New Behaviors

Cooperation

Distributed Reasoning