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Instructors
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- Nick Roy (course coordinator)
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- Daniela Rus
- Office: 32-374
- Phone:
258-7567
- Office Hours:
by appointment
- E-mail: rus@csail.mit.edu
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Course Help Outside Lab Hours
Course
- Meeting times:
- Lectures: Mon and
Wed 11--12 in Room 32-144
- Labs: Tue and Thu
2:30--4:30 in 33-136
- EECS Departmental
Classification
Students may use RSS I either as a departmental lab or for credit
towards their AI and Applications Engineering Concentration (EC).
Students may use RSS II either for departmental lab credit or they may
request it be recognized as an AUP (even though it is 6 credits more
than a standard AUP).
- Engineering Design Points
(EDPs): Part I: 8, Part II: 12
- Units: 12, 2-4-6
(Lectures: 2; Labs: 4; Out-of-class: 6)
Prerequisite
- This course has no formal prerequisites
other than a facility with computers and programming, some exposure to
algorithms and formal methods, and a desire to build robots. Permission
of the instructor is required. A course in mechanical design and
construction is helpful but not necessary.
Robotics: Science and Systems I is a prerequisite for Robotics: Science
and Systems II. We encourage Mechanical Engineering students to enroll
but advise them that they will have to petition to use these credits to
fulfill ME degree requirements.
The course has limited enrollment.
Text
- Introduction to Autonomous Mobile
Robots Siegwart and Nourbakhsh, available at MIT Press in Kendall
Square
In addition there will be reading
distributed in the form of course notes and papers. You have to read
all the materials you will receive in the course. Here are some other
relevant books:
- Robot Motion Planning,
Latombe, Kluwer Academic Publishers.
- Mobile Robots, Inspiration to
Implementation, Jones & Flynn, A. K. Peters.
- Artificial
Intelligence, A Modern Approach Russel & Norvig, Prentice
Hall.
- Behavior-Based
Robotics, Arkin, MIT Press, 1998.
- Robotic Explorations, Martin,
Prentice Hall
- Computational Principles of Mobile
Robotics, Dudek and Jekin
Course Objective
This project course is a hands-on introduction to robotics. You will be
introduced to the basic concepts in robotics, focusing on the mechanics
and electronics principles behind building robots and on the classic
algorithms, architectures, and theories behind controlling and
programming robots. Topics include: motion planning, geometric
reasoning, kinematics and dynamics, state estimation, tracking, map
building, manipulation, human-robot interaction, fault diagnosis and
embedded system development. You will build a robot in teams using a
robot building kit. This robot will be used to implement the algorithms
discussed in class in the context of the course challenge task.
Lecture and lab attendance is mandatory.
The challenge solutions will be demoed during the last laboratory.
You will build your robots in teams. Each
group will design and implement the hardware and software for their
robot. All robots will have to be able to execute the same challenge
task.
Course Requirements
The course material will be covered in lectures. In addition, each
group will have regular weekly meetings in the Robotics Laboratory.
Students are required to attend all classes and weekly lab meetings.
They are required to solve each week's lab exercise. In addition,
students will be required to do the following work:
- Read all the assigned papers and chapters
before each class. Participate actively in the discussion.
- Participate in weekly labs and provide
detailed lab reports with answers to all the lab problems. The lab
reports will be organized as Web logs. Each group will maintain such a
log. Send the URL for your lab to the course coordinator.
- Prepare a report that details the
hardware, software, and algorithms used by their robot.
- Participate in one Robot Team. This
includes active participation in the design, construction, and
programming of the robots, and in participation in the robot
competition. You will also have to turn in a project report that
details your design, implementation, and performance evaluations.
Laboratories
Debates
- The field of Robotics has certain
philosophical aspects to it. We will learn about this by means of class
debates, which will occur at the end of the term. A list of debate
topics will be posted; you will be asked to sign up for a topic and for
the pro or con position for that topic. You will have to prepare an
argument for the idea you signed up for. You will deliver this orally
in groups in front of the class.
Grading
Individual Performance (50% of total grade):
- Design/Demonstration review presentations: 20%
- Clear presentation
- Clear understanding of issues
- Ability to answer questions from other teams
- Lab books: 10%
- Clear, continual documentation of implementation state
- Clear, continual evaluation
- No unexplained gaps
- Written final report: 10%
- Class and lab participation: 10%
- Asks questions during design/test reviews
- Technical support for presenting teammates - Does not interrupt presenting teammates
Team Performance (50% of total grade):
- Quality and originality of approach: 10%
- Quality of implementation: 10%
- Documentation of implementation: 10%
- Ability to work together as a team: 10%
- Co-operation with other teams:10%
Honor Code
- All work submitted for credit must be
your own.
- Any written sources you must also be
acknowledged in your project reports. Any software given to you (by us
or by other sources on the Web) must also be acknowledged.
Disabilities
We encourage students with disabilities, including "invisible"
disabilities such as chronic diseases and learning disabilities, to
discuss with us any appropriate accommodations that we might make on
their behalf.
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