Updates on the campus response to coronavirus (COVID-19)

ECE Course Syllabus

ECE6562 Course Syllabus


Autonomous Control of Robotic Systems (3-0-3)

Technical Interest
Systems and Controls



Catalog Description
Fundamental issues associated with autonomous robot control. Emphasizes biological perspective that forms the basis of many current developments in robotics.

G.A. Bekey, Autonomous Robots: From Biological Inspiration to Implementation and Control, MIT Press, 2005. ISBN 0262025787, ISBN 978-0262025782 (required)

Indicators (SPIs)
SPIs are a subset of the abilities a student will be able to demonstrate upon successfully completing the course.

Topical Outline
1.	Introduction: Anatomy of a Robot: Classification of Robots; Robot Configurations; Robot Components; Performance Characteristics.
2.	Foundations: 2D and 3D affine transformations. Jacobian matrices. Simulation tools.
3.	Kinematics: Modeling kinematic chains, Forward kinematics, Inverse kinematics
4.	Perception: Simple pinhole camera model,  Basics in camera calibration, Triangular active sensing, Color space, Image filtering algorithms to reduce noise,  Edge detection, Hough transform for lines and circles  
5.	Reactive Behaviors: Feedback control. Basic navigation algorithms based on recognized landmarks. Obstacle avoidance. Path following and boundary following. Simple reactive behaviors to object detected by computer vision. 
6.	Motion and Path Planning:  Distance transform, Breadth first search, the A* algorithm, Potential field-based method.
7.	Dynamics and Control: Rigid body dynamics equations, Controller design for quadrotors and underwater vehicles.