Textbook: Introduction to AI Robotics, Robin R. Murphy,
The MIT Press, 2000.
| Lectures | Labs | ||
|---|---|---|---|
| Lecture 1-1 From Teleoperation to Autonomy | slides | notes | Lab 1 Recitation |
| Lecture 1-2 The Hierarchical Paradigm | slides | notes | Lab 1 - Getting to Know Your Robot: Locomotion and Odometry |
| Lecture 2-1 Representation and The Reactive Paradigm | slides | notes | |
| Lecture 2-2 The Reactive Paradigm | slides | notes | Lab 2 - Random Wander, Obstacle Avoidance: The Reactive Paradigm |
| Lecture 3-1 Feedback Control | slides | notes | |
| Lecture 3-2 Designing a Reactive Implementation | slides | notes | Lab 3 - Wall Following: Proportional-Derivative Control |
| Lecture 4-1 Common Sensing Techniques for Reactive Robots | slides | notes | |
| Lecture 4-2 Common Sensing Techniques for Reactive Robots | slides | notes | Lab 4 - Line Following: Proportional-Integral Control |
| Lecture 5-1 Mobile Robot Kinematics | slides | notes | |
| Lecture 5-2 The Hybrid/Deliberative/Reactive Paradigm | slides | notes | Lab 5- Homing: Hybrid Control |
| Lecture 6-1 Topological Path Planning | slides | notes | |
| Lecture 6-2 Topological Path Planning | slides | notes | Lab 6- Topological Path Planning |
| Lecture 7-1 Metric Path Planning | slides | notes | |
| Lecture 7-2 Localization and Map Making | slides | notes | Lab 7-Metric Path Planning (Occupancy Grid) |
| Lecture 8-1 Localization and Map Making | slides | notes | |
| Lecture 8-2 Map Making | slides | notes | Lab 8-Path Planning (Topological Map) |
| Final Project - Localization and Map Making | flyer | images | |
| Lab Videos |