Fundamentals of Autonomous Robotics

Course content

History of Autonomous robotics: Braitenberg´s vehicles, Walter Grey Walter´s tortoises. Locomotion and sensing of robots. Robot control paradigms and architectures. Hierarchical paradigm: STRIPS, RCS. Reactive paradigm; Arbib´s schemas, Brooks´ subsumption architecture, behaviors, potential fields. Hybrid paradigm: AuRo, SSS, RAP´s. 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.