Sensing, Planning, and Control in Robotics

3 units

This course introduces planning, control, and sensing algorithms for autonomous robots. Topics include control systems, task and motion planning, and estimation techniques for localization and mapping. If time permits, an introduction to formal methods for task and safety specifications will be provided. Students will be evaluated based on a project that involves designing sensor-based navigation algorithms for robot missions in unknown environments. Throughout the semester, students will complete multiple smaller projects that progressively contribute to the final project. The algorithms developed will be demonstrated using the Robot Operating System (ROS) in simulated and real robot platforms. A brief introduction to ROS will be provided, but students are expected to independently familiarize themselves with it as part of their projects. Familiarity with Python is required.