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Information
| Code | CEN449 |
| Name | Introduction to Autonomous Robots |
| Term | 2024-2025 Academic Year |
| Semester | 7. Semester |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | İngilizce |
| Level | Lisans Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Dr. Öğr. Üyesi Barış ATA |
| Course Instructor |
Dr. Öğr. Üyesi Barış ATA
(A Group)
(Ins. in Charge)
|
Course Goal / Objective
To learn the theoretical and algorithmic andaspects of the main techniques for robot autonomy, in particular motion planning, perception, localisation and SLAM.
Course Content
Fundamental guidelines for equipping mobile autonomous robots with planning, perception, and decision-making. Algorithmic methods for optimizing trajectories, planning robot motion, robot perception, and, simultaneous localization and mapping (SLAM).
Course Precondition
None
Resources
Nikolaus Correll, Bradley Hayes, Christoffer Heckman and Alessandro Roncone. Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms, MIT Press, 2022
Notes
S. Thrun, W. Burgard, D. Fox. Probabilistic Robotics. MIT Press, 2005
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Gain a fundamental understanding of the autonomy approaches used in mobile autonomous robots. |
| LO02 | Understand the current use and limitations of mobile robots. |
| LO03 | Read and understand journal and conference papers describing current research in robotics. |
| LO04 | Be able to generate a path for a robot moving around an area with obstacles. |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | Adequate knowledge of mathematics, science and related engineering disciplines; ability to use theoretical and applied knowledge in these fields in solving complex engineering problems. | 5 |
| PLO02 | Bilgi - Kuramsal, Olgusal | Ability to identify, formulate and solve complex engineering problems; ability to select and apply appropriate analysis and modeling methods for this purpose. | 4 |
| PLO03 | Bilgi - Kuramsal, Olgusal | Ability to design a complex system, process, device or product to meet specific requirements under realistic constraints and conditions; ability to apply modern design methods for this purpose. | |
| PLO04 | Bilgi - Kuramsal, Olgusal | Ability to select and use modern techniques and tools necessary for the analysis and solution of complex problems encountered in engineering practice; ability to use information technologies effectively. | 2 |
| PLO05 | Bilgi - Kuramsal, Olgusal | Ability to design and conduct experiments, collect data, analyze and interpret results to investigate complex engineering problems or discipline-specific research topics. | |
| PLO06 | Bilgi - Kuramsal, Olgusal | Ability to work effectively in interdisciplinary and multidisciplinary teams; individual working skills. | 4 |
| PLO07 | Bilgi - Kuramsal, Olgusal | Ability to communicate effectively verbally and in writing; knowledge of at least one foreign language; ability to write effective reports and understand written reports, prepare design and production reports, make effective presentations, and give and receive clear and understandable instructions. | 5 |
| PLO08 | Bilgi - Kuramsal, Olgusal | Awareness of the necessity of lifelong learning; ability to access information, follow developments in science and technology, and constantly renew oneself. | |
| PLO09 | Bilgi - Kuramsal, Olgusal | Knowledge of ethical principles, professional and ethical responsibility, and standards used in engineering practice. | 4 |
| PLO10 | Bilgi - Kuramsal, Olgusal | Knowledge of business practices such as project management, risk management and change management; awareness of entrepreneurship and innovation; knowledge of sustainable development. | |
| PLO11 | Bilgi - Kuramsal, Olgusal | Knowledge of the effects of engineering practices on health, environment and safety in universal and social dimensions and the problems of the age reflected in the field of engineering; awareness of the legal consequences of engineering solutions. |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Introduction | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 2 | Locomotion | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 3 | Mobile Robot Kinematics | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 4 | Grasping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 5 | Actuators | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 6 | Sensors | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 7 | Introduction of Computer Vision | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 8 | Mid-Term Exam | Reading research articles | Ölçme Yöntemleri: Ödev |
| 9 | Mapping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 10 | Path Planning | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 11 | Manipulation | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 12 | Localization | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 13 | Simultaneous Localization and Mapping | Reading lecture notes | Öğretim Yöntemleri: Anlatım, Tartışma |
| 14 | Article Presentations I | Article scanning, presentation preparation | Öğretim Yöntemleri: Grup Çalışması, Proje Temelli Öğrenme , Örnek Olay |
| 15 | Article Presentations II | Article scanning, presentation preparation | Öğretim Yöntemleri: Grup Çalışması, Proje Temelli Öğrenme , Örnek Olay |
| 16 | Term Exams | Reading lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Reading lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
Student Workload - ECTS
| Works | Number | Time (Hour) | Workload (Hour) |
|---|---|---|---|
| Course Related Works | |||
| Class Time (Exam weeks are excluded) | 14 | 3 | 42 |
| Out of Class Study (Preliminary Work, Practice) | 14 | 5 | 70 |
| Assesment Related Works | |||
| Homeworks, Projects, Others | 1 | 15 | 15 |
| Mid-term Exams (Written, Oral, etc.) | 0 | 0 | 0 |
| Final Exam | 1 | 30 | 30 |
| Total Workload (Hour) | 157 | ||
| Total Workload / 25 (h) | 6,28 | ||
| ECTS | 6 ECTS | ||