Module Code - Title:

EE5042 - ROBOTIC PLANNING, MAPPING & MANIPULATION

Year Last Offered:

2024/5

Hours Per Week:

Lecture

2

Lab

2

Tutorial

1

Other

0

Private

5

Credits

6

Grading Type:

N

Prerequisite Modules:

Rationale and Purpose of the Module:

This module builds upon lessons learnt from 'Modern Robotics' introducing robot manipulation systems and control approach and task planning for mobile robots with intervention capabilities. The course also looks at human robot interactions and collaborative robotic systems as well as swarm robotics and networked systems.

Syllabus:

Review of mobile robots, geometry, paths & trajectories, Joint control. Review direct & inverse robot kinematics, homogeneous transformations, nonholonomic constraints. Introduction to common guidance, control strategies & localization, pose based motion control, ANNs, fuzzy logic. Object manipulation, task planning, force-torque & impedance control. Simulation and programming tools and environments such as V-REP, ROS, Gazebo. Path planning: Spatial decomposition, geometric representation, topological representation. Configuration space, exploration, navigation and obstacle avoidance Control algorithms including individual wheel, straight line and trajectory following. Sensing, mapping & exploration (RGB, inertial, infrared, sonar, radar, Lidar, GPS and magnetic). Human-robot interactions & collaborative robotics. Swarm robotics, networked systems.

Learning Outcomes:

Cognitive (Knowledge, Understanding, Application, Analysis, Evaluation, Synthesis)

On successful completion of this module, students will be able to: 1. Demonstrate an understanding of task planning and control strategies for autonomous intervention vehicles. 2. Demonstrate knowledge of collaborative robotics & perceptual systems. 3. Demonstrate knowledge of swarm systems. 4. Understand knowledge regards mobile robots in application fields (automotive, ground, aerial and underwater domains).

Affective (Attitudes and Values)

On successful completion of this module, students will be able to: 1. Access the main approaches in the development of autonomous intervention vehicles. 2. Effect design approaches to developing swarm robotics. 3. Differentiate from various techniques that could be used for collaborative robotics and intervention vehicles

Psychomotor (Physical Skills)

On successful completion of this module, students will be able to: n/a

How the Module will be Taught and what will be the Learning Experiences of the Students:

The module will be delivered in a blended learning format, with online pre-recorded video lectures and interactive Q+A tutorials. The students will also complete a series of exercises through supervised lab setting and through their own time with online moderator support.