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Course syllabus - Mobile Robotics

Scope

7.5 credits

Course code

ELA408

Valid from

Autumn semester 2024

Education level

Second cycle

Progressive Specialisation

A1F (Second cycle, has second-cycle course/s as entry requirements).

Main area(s)

School

School of Innovation, Design and Engineering

Ratified

2019-01-24

Revised

2024-01-18

Literature lists

Course literature is preliminary up to 8 weeks before course start. Course literature can be valid over several semesters.

    • Ratified date: 2025-01-30
    • Latest update: 2025-01-30

    Reference Literature

    Siciliano, Bruno

    Robotics : modelling, planning and control

    London : Springer, c2009. - xxiv, 632 p.

    ISBN: 978-1-84628-641-4 LIBRIS-ID: 11271317

    Corke, Peter.

    Robotics, Vision and Control : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition

    2nd ed. 2017. : Cham : Springer International Publishing, 2017. - XXIX, 693 p. 402 illus., 335 illus. in color.

    ISBN: 978-3-319-54413-7 LIBRIS-ID: 20876062

    URL: Table of Contents / Abstracts

    The book is available for free download for everyone at MDH at this link: https://link.springer.com/book/10.1007%2F978-3-319-54413-7

    Siegwart, Roland; Nourbakhsh, Illah Reza; Scaramuzza, Davide

    Introduction to autonomous mobile robots

    2nd ed. : Cambridge, Mass. : MIT, c2011. - xvi, 453 p.

    ISBN: 0262015358 LIBRIS-ID: 12103366

Objectives

The purpose of the course is to provide fundamental knowledge on how the different typologies of mobile robots are designed and controlled to perform autonomous tasks in the different areas like field robotics, service robotics, medial robotics, bio-inspired robotics, etc. Locomotion strategies will be analyzed for wheeled robots. 
Differently from industrial robots, localization and pose estimation is a crucial problem in mobile robotics, so methods for sensors fusion and mapping will be presented. Once the robot is localized, fundamental methods for path planning and obstacle detection/avoidance will be needed and provided by the course.

Learning outcomes

After completing the course, the student will be able to: 
1. Model a mobile robot using different kinds of kinematic structures 
2. Design behaviors of a mobile robot 
3. Motion planning for wheeled robots 
4. Describe and implement fundamental algorithms for localization and mapping 
5. Implement basic methods for obstacle detection and avoidance

Course content

Mobile robots' typologies, non-holonomic constraints, wheeled robot configurations, legged robots, hybrid robots, biped robots, balancing robots. Behavioral robotics. SLAM (simultaneous localization and mapping), odometric localization, probabilistic localization, EKF (extended Kalman filtering), particle filtering. 
Path planning, obstacle avoidance fundamentals, potential fields.  Roboethics.

Specific requirements

Linear Algebra 7.5 credits, Calculus of Several Variables 7.5 credits, Mechanics II 7.5 credits and Control Theory 7.5 credits or corresponding. In addition Swedish course B/Swedish course 3 and English course A/English course 6 are required. For courses given entirely in English exemption is made from the requirement in Swedish course B/Swedish course 3.

Examination

Laboratory work (LAB1), 1.5 credits, examines the learning outcomes 1 and 2, marks Fail (U) or Pass (G).
Laboratory work (LAB2), 1.5 credits, examines the learning outcomes 1 and 4, marks Fail (U) or Pass (G).
Laboratory work (LAB3), 1.5 credits, examines the learning outcomes 3 and 5, marks Fail (U) or Pass (G).
Project (PRO2), 3 credits, examines all learning outcomes, marks 3, 4 or 5.

A student who has a certificate from MDU regarding a disability has the opportunity to submit a request for supportive measures during written examinations or other forms of examination, in accordance with the Rules and Regulations for Examinations at First-cycle and Second-cycle Level at Mälardalen University (2020/1655). It is the examiner who takes decisions on any supportive measures, based on what kind of certificate is issued, and in that case which measures are to be applied.

Suspicions of attempting to deceive in examinations (cheating) are reported to the Vice-Chancellor, in accordance with the Higher Education Ordinance, and are examined by the University’s Disciplinary Board. If the Disciplinary Board considers the student to be guilty of a disciplinary offence, the Board will take a decision on disciplinary action, which will be a warning or suspension.

Grade

Pass with distinction, Pass with credit, Pass, Fail

Interim Regulations and Other Regulations

The course overlaps 7,5 credits with ELA406 Mobile Robotics.