CSE 590 DF (9720)

AI-based Mobile Robotics

Dieter Fox

Fall Quarter, 2000


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.

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.


Organization


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.


Schedule


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

Oct. 5: David Hsu Local path planning

Position Estimation

Oct. 12: Vibha Sazawal Kalman filters and position probability grids
Oct. 19: Dieter Fox Particle filters

World Models

Oct. 26: Aaron Shon Topological maps
Nov. 2: Dieter Fox Metric maps

Planning and Control

Nov. 9: Dieter Fox Active localization

Architectures and Systems

Nov. 16: Dieter Fox Three-layer architectures
  • E. Gat.

  • On three-layer architectures.
    Artificial Intelligence and Mobile Robots.
    D. Kortenkamp, R. P. Bonasso, and R. Murphy, editors.
    MIT/AAAI Press, Cambridge, MA, 1998.
Nov. 30: Ken Yasuhara Xavier
  • R. Simmons, R. Goodwin, K. Z. Haigh, S. Koenig, J. O'Sullivan, and M. M. Veloso.
    Xavier: Experience with a layered robot architecture.
    ACM magazine (Intelligence).
  • S. Koenig and R. Simmons.
    A robot navigation architecture based on partially observable Markov decision process models.
    Artificial Intelligence and Mobile Robots.