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Robotics

Fall 2004

 

 

Syllabus
Presentations
Projects
Homework
Online Resources

 

 

 

We will study fundamental algorithms for robotics with:

Introduction to industrial robots, and
Particular emphasis on research in and applications of autonomous mobile robots

Method:

The course consists of

Lectures with discussions,

Homework assignments,

Reading assignments,

One of these assignments might involve a (group) project

 

Syllabus

Introduction

Kinematics- Preliminary

Kinematics (PPT)

Inverse-Kinematics

Mobile Robotics

Jacobian

Dynamics

Dynamics of 2 DOF robot

Trajectory Generation

Programming

 
Presentations 
. Presenter Title Date
Nikabadi Robocup- Introduction 8/23
Rahimi-Behsaz-

Tavakkoli-Salehi

Robocup- Rescue

معرفي- قوانين- محيط

8/30
Rahimi-Behsaz-

Tavakkoli-Salehi

Robocup- Rescue

مسائل موجود در زمينه تيمهاي آتش نشان وپليس

9/2
Rahimi-Behsaz-

Tavakkoli-Salehi

Robocup- Rescue

مسايل موجود در زمينه نيروهاي آمبولانس و مشترک ميان تمام عاملها

9/7
Nikabadi-Montazeri Robocup- Soccer 9/9
Nikabadi-Montazeri Robocup- Soccer 9/14
Gholami
Mobile robot Kinematics
9/16
Fazli
Mobile robot path planning
Ghandomkar
Mobile robot motion planing
Namnabat
Kalman Filters For mobile robot Locolization and Mapping
Dezhkam
Behavior Based Robotics
Zamani
Odometry and Dead-Reckoning
Localization
Robot simulation
Brooks subsumptions
Bahreini Topological navigation 
Motevallian

Genetic Algorithms for Robot Motion Planning

Haddad
Fuzzy control
Hoseini
Reinforcement learning
Projects 

Projects and Presentations  

Important Note: Projects and Presentations should be defined by the due date.Delay will result in reduction of 25% per week.

Online resources

 

Brooks, R. A. A Robust Layered Control System for a Mobile Robot, IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14, pdf

On line book: J. Borenstein , H. R. Everett , and L. Feng, "Where am I? Sensors and Methods forMobile Robot Positioning", April 1996, pdf (12MB)

Last update: 25/10/04