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Robotics: Science and Systems (R:SS) Course Webpage

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; visual geometry, recognition of textured objects, shape matching and object categorization. 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. NOTE: This is a 20 pt course, as opposed to the standard 10 pt courses since this covers two introductory topics: robotics and vision and a practical element.

Course descriptor

When and Where?

When: 9:00 - 10:50 (with 10 min. break) on Mondays and Thursdays.

Where: TBA

First Lecture: 21 Sep (Mon) 9:00-10:50 @  TBA

Practical times

Monday 11.00 - 13.00 (Forrest Hill G.A11)

Thursdays 11.00 - 13.00 (Forrest Hill G.A11)

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

Written Examination 50
Assessed Practicals 40
Assessed Assignments 10

Late Coursework & Extension Requests
Academic Misconduct

Course Lecturers

Professor Sethu Vijayakumar - sethu.vijayakumar[at]ed.ac.uk

Dr Subramanian Ramamoorthy - s.ramamoorthy[at]ed.ac.uk

Professor Chris Williams - ckiw[at]inf.ed.ac.uk

Demonstrators

Vladimir Ivan - v.ivan[at]sms.ed.ac.uk


Technical Support

Garry Ellard - gde[at]inf.ed.ac.uk

Tony Shade - ashade[at]inf.ed.ac.uk

 

Lecture plan (provisional)

Lecture time: 9:00 - 10:50 (with 10 min. break) on Mondays and Thursdays.

Week

Date

Lecture notes

Lecturer

Lecture topic

Milestones

1

21-Sep-2014


Sethu Vijayakumar

 

 Kit handout

1

24-Sep-2014


Chris Williams

 

 Kit handout

2

28-Sep-2014


 Sethu Vijayakumar

 

 

2

1-Oct-2014


Chris Williams

 

 

3

5-Sep-2014


Sethu Vijayakumar

 

 

3

8-Oct-2014


Chris Williams

 


4

12-Oct-2014



 

Chris Williams

 

 

 

4

15-Oct-2014


Subramanian Ramamoorthy

 

 

5

19-Oct-2014

 

Sethu Vijayakumar


 

 Major Milestone 1

5

22-Oct-2014


Chris Williams


Homework 1 assigned


Major Milestone 1

6

26-Oct-2014


Subramanian Ramamoorthy

 

 

6

29-Oct-2014

 

Chris Williams



7

2-Nov-2014


Subramanian Ramamoorthy

 


7

5-Nov-2014


 

Chris Williams



8

9-Nov-2014



Subramanian Ramamoorthy


 

8

12-Nov-2014


Chris Williams

 

 Homework 1 due (13th Nov by 5pm)

9

16-Nov-2014


 

 

 

 

 Major Milestone 2

9

19-Nov-2014


 

 

Major Milestone 2

10

23-Nov-2014

Exam Q&A

SV, SR, CW

 

Homework 1 feedback to be handed out

11
30-Nov-2014


 


 11  3-Dec-2014  Competition   Final Practical Demo / Competition  

Final Competition

Homework 2 (Practical report) due

           

 

 

 

 Recommended Texts

 
  • Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G., Robotics: Modelling, Planning and Control
  • 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, 2nd edition, Pearson 2012.
  • R. Szeliski. Computer Vision: Algorithms and Applications, Springer, 2011
  • J. J. Craig, Introduction to Robotics: Mechanics and Control (3rd Edition), [pdf]: Use for first 3 chapters only.
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