EECE 5698 Special Topics: Mobile Robotics

Fall 2017

Introduction
Instructor : Taskin Padir
t.padir@northeastern.edu
Office: ISEC 527
Phone: (617) 373-8114 (office)
Skype or Google+: tpadir
Office Hours: M 1-2pm, W 9-10am or by appointment in-person or online
Lectures : MW 2:50-4:30, Shillman Hall 215
Websites : piazza.com/northeastern/fall2017/eece569803/home

Course Description
Investigates the science and engineering of mobile robots. Topic may include: kinematics, dynamics,
numerical methods, state estimation, control, perception, localization and mapping, and motion plan-
ning for mobile robots. Practical robot applications ranging from disaster response to healthcare to space
exploration will be emphasized.
(Prerequisites: Linear algebra; Differential equations; Linear systems and control theory or consent of the
instructor.)

Textbook
1. Kelly, A. (2013). Mobile Robotics: Mathematics, Models, and Methods. Cambridge University Press.

References
1. Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D. (2011). Introduction to autonomous mobile robots.
MIT press.

2. Corke, P. (2011). Robotics, vision and control: fundamental algorithms in MATLAB. Springer Science &
Business Media.

3. Siciliano, B., & Khatib, O. (Eds.). (2008). Springer Handbook of Robotics. Springer.

4. Sciavicco, L., & Villani, L. (2009). Robotics: Modelling, Planning and Control. Springer.

5. Craig, J. J. (2005). Introduction to robotics: mechanics and control (Vol. 3). Upper Saddle River: Pearson
Prentice Hall.

6. Selected papers and book chapters from recent literature.

Prof. Padir EECE 5698 (Fall 2017) 1

Expected Background
Students will greatly benefit from having a foundational knowledge of linear algebra including matrix
operations, vector norms, eigenvalues and eigenvectors, functions of matrices and generalized inverses;
topics from differential equations including solutions of linear equations with constant coefficients, sys-
tems of first-order linear equations, Laplace transform, and numerical methods; foundations of probabil-
ity and random variables; and essentials of linear systems and control theory including modeling, time
response, state-space representation and stability. Prior knowledge of robotics is helpful but not essential
for successful completion of the course. Experience with MATLAB/Simulink or other simulation tool is
highly recommended.

Course Objectives:
Upon completion of this course, students will be able to:

1. Demonstrate an understanding of mobile robot models.

2. Develop control methods based on models of dynamic robot behaviors.
3. Demonstrate an understanding of localization and mapping techniques.
4. Demonstrate an understanding of state estimation techniques.
5. Implement motion planning and navigation algorithms.
6. Demonstrate competency in Robot Operating System (ROS) and Matlab Robotic Systems Toolbox.

Ground Rules
1. The instructor reserves the right to modify the course outline and policies described in this syllabus at any
time.
2. Homework: Homework will be assigned regularly. All homework will have a due date and no
late homework will be accepted. Selected homework problems will be graded for credit. Details on
online homework submissions will be provided.
3. Exams: One midterm and one final exam will be given. Exams can be partially or completely take-
home exams. Make-ups will only be granted to the students who have an acceptable excuse ap-
proved in advance. Each exam is worth 25% of the total score.
4. Project: Project teams of 1-3 students will complete a high-quality, results-oriented course project.
The project assignments will involve design and implementation of algorithms for mobile robot
navigation. Project deliverables include a technical paper, short video demonstration and a presen-
tation. Project grade is 40% of the total score.
5. Active participation and interaction are expected.
6. Grading: You must complete all the assignments and project, and you must take all the exams to
receive a passing grade in the course.

Requirement Weight
Homework 10%
Midterm Exam 25%
Final Exam 25%
Project 40%

Prof. Padir EECE 5698 (Fall 2017) 2

 7. Academic Integrity Policy: Review NEUs Academic Integrity Policy at: http://www.northeastern.
edu/osccr/academic-integrity-policy/. Rule of thumb: Any work you present as your own should
represent your own understanding of the material.

Tentative Schedule
Lecture 1 Course introduction; Mathematical foundations
Lecture 2 Mathematical foundations: Rigid transforms, kinematics
Lecture 3 Mathematical foundations: Kinematic models, quaternions
Lecture 4 Robot simulation tools
Lecture 5 Robot hardware designs
Lecture 6 Numerical methods
Lecture 7 Nonlinear and constrained optimization
Lecture 8 Mobile robot dynamics
Lecture 9 Predictive modeling and system identification
Lecture 10 Optimal estimation fundamentals
Lecture 11 State space Kalman filters
Lecture 12 Bayesian estimation; Midterm exam
Lecture 13 State estimation
Lecture 14 State space robot control
Lecture 15 Optimal and model predictive control
Lecture 16 Perception fundamentals
Lecture 17 Obstacle avoidance
Lecture 18 Localization and mapping
Lecture 19 SLAM fundamentals
Lecture 20 Motion planning
Lecture 21 Representation and search
Lecture 22 Global motion planning
Lecture 23 Introduction to bipedal locomotion
Lecture 24 Whole-body motion control
Lecture 25 Project presentations; Whats next?

Prof. Padir EECE 5698 (Fall 2017) 3