Academic Catalog

CENG585 FUNDAMENTALS OF AUTONOMOUS ROBOTICS

Course Code: 5710585
METU Credit (Theoretical-Laboratory hours/week): 3(3-0)
ECTS Credit: 8.0
Department: Computer Engineering
Language of Instruction: English
Level of Study: Masters
Course Coordinator: Assoc.Prof.Dr. EROL AHN
Offered Semester: Fall or Spring Semesters.

Course Content

History of Autonomous robotics: Braitenbergs vehicles, Walter Grey Walters tortoises. Locomotion and sensing of robots. Robot control paradigms and architectures. Hierarchical paradigm: STRIPS, RCS. Reactive paradigm; Arbibs schemas, Brooks subsumption architecture, behaviors, potential fields. Hybrid paradigm: AuRo, SSS, RAPs. Mobile robot navigation: Localization, Map-making, SLAM, route planning. Robot vision. Evolution in autonomous robot systems. Sensory-motor coordination and learning. Multi-robot systems: Robot teams, Robocup, swarm robotics.