The seminar is intended for students with general interest in AI.
It should be particularly interesting to all students who
want to pursue research in the area of mobile robotics. To those
students, the seminar will provide an ideal introduction. During the fall
quarter, I will build up a robot research lab. In case the robots
arrive early enough, part of the seminar will be used to give a
hands-on introduction to our robot control system. See also videos of
our museum
tour-guide robots.
This seminar will introduce mobile
robotics from an AI perspective, emphasizing the algorithmic rather
than the hardware aspects of robotics. It will provide a broad
overview of the major problems involved in controlling an autonomous
mobile robot.
Meeting times: Thursdays 12:00 -1:20pm
Location: SAV 131
This is a one credit seminar. Each student is expected to read the papers and join the discussions. Students interested in presenting one of the papers, can get up to three credits. Please email me if you have any questions.
There is a mailing list for this seminar. To subscribe, send mail to majordomo@cs with the line "subscribe cse590df" in the body.
The schedule is still very tentative but should
already provide a good overview of the topics introduced in this
seminar.
| Sep. 28 | Overview and organization | |||
Reactive Collision Avoidance |
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| Oct. 5: David Hsu | Local path planning |
A gradient method for real time robot control. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2000. The saphira architecture for autonomous mobile robots. Artificial Intelligence and Mobile Robots. |
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Position Estimation |
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| Oct. 12: Vibha Sazawal | Kalman filters and position probability grids |
An experimental comparison of localization methods. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 1998. Markov localization for mobile robots in dynamic environments. Journal of Artificial Intelligence Research (JAIR) 11:391-427, 1999. The Kalman filter: An introduction to concepts. I. J. Cox and G. T. Wilfong, editors, Autonomous Robot Vehicles. Springer Verlag, 1990. |
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| Oct. 19: Dieter Fox | Particle filters |
Monte Carlo Localization: Efficient position estimation for mobile robots. Proc. of the National Conference on Artificial Intelligence (AAAI) 1999. Using the condensation algorithm for robust, vision-based mobile robot localization. Proc. of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR) 1999. Condensation - conditional density propagation for visual tracking. International Journal of Computer Vision 29(1):5-28, 1998. |
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World Models |
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| Oct. 26: Aaron Shon | Topological maps |
The spatial semantic hierarchy. Artificial Intelligence, 119:191-233, 2000. |
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| Nov. 2: Dieter Fox | Metric maps |
A real-time algorithm for mobile robot mapping with applications to multi-robot and 3d mapping. Proc. of the IEEE International Conference on Robotics & Automation (ICRA) 2000. Learning metric-topological maps for indoor mobile robot navigation. Artificial Intelligence 99(1):27-71, 1998. |
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Planning and Control |
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| Nov. 9: Dieter Fox | Active localization |
Acting under uncertainty: Discrete Bayesian models for mobile-robot navigation. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 1996. Active Markov localization for mobile robots. Robotics and Autonomous Systems 25:195-207, 1998. |
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Architectures and Systems |
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| Nov. 16: Dieter Fox | Three-layer architectures |
On three-layer architectures. Artificial Intelligence and Mobile Robots. D. Kortenkamp, R. P. Bonasso, and R. Murphy, editors. MIT/AAAI Press, Cambridge, MA, 1998. |
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| Nov. 30: Ken Yasuhara | Xavier |
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