EEL 5669 Introduction to Autonomous Systems & Controls
Florida International
University
Department of Electrical and
Computer Engineering
Spring Semester
(Tentative)
|
Classroom |
: |
EC1116
or Online (Pending) |
|
Class Time |
: |
Monday
and Wednesday 10:00AM - 11:50AM |
|
Faculty |
: |
Dr.
Ou Bai |
|
Office
Hours |
: |
Either
scheduled appointment or after class. Please send an email to: obai@fiu.edu
to make an appointment. Please include: your name, preferred time (give three
if possible), how long needed, what to discuss and other necessary
information. |
|
Office |
: |
10555
W. Flagler Street, Room 3954 |
|
Phone |
: |
(305)
348-3704 |
|
Email |
: |
|
|
Prerequisite |
: |
C/C++
and/or Java |
|
Textbook |
: |
Siegwart, Nourbaksh and Scaramuzza, Introduction
to Autonomous Mobile Robots, 2nd Edition. MIT Press, 2011. ISBN:
9780262015356 Nikolaus
Correll, Introduction to Autonomous Robots, Magellan Scienti Jitendra
R. Raol, Mobile Intelligent Autonomous Systems. CRC
Press. ISBN:9781439863015 (Reference Only) |
Course Description
This course provides a comprehensive introduction
to the fundamental components of autonomous systems. In particular, the course
will exposure the students to the concept of autonomous systems from the
perspective of autonomous mobile robotic systems. Topics include sensors and
actuators, embedded computing and control, vision, introduction to intelligent
control and reasoning, and finally, ethics.
Course Objectives
The objective of this course is to
introduce the students to the concept of autonomous systems. Autonomous systems
are capable of perceive, reason about and act autonomously in a variety of
situations and environments. The topics in the course will exposure the
students to the fundamental building blocks of autonomous systems, ranging from
hardware, software, system integration, low-level system control to high-level
intelligent control. Throughout the course, the students will have the
opportunity to apply the concepts learnt in class to build and program an
autonomous mobile robotic system.
Topics Covered
1.
Autonomous
system fundamentals
2.
C/C++
programming
3.
MATLAB
scripts
4.
Sensors
and actuators
5.
Vision
and Feature Extraction
6.
Embedded
systems and control for robotic
7.
Localization
8.
Introduction
to navigation, planning and decision making
9.
Ethics
Grading Scheme
|
Homework/Problem Sets |
20% |
|
Projects and Reports |
40% |
|
Two Quiz/Exam (20% each) |
40% |
|
Total |
100% |
Tentative Grading
Scale
|
A |
100-95 |
B+ |
86-89 |
C+ |
76-79 |
D |
60-69 |
F |
0-59 |
|
A- |
90-94 |
B |
83-85 |
C |
70-75 |
|
|
|
|
|
|
|
B- |
80-82 |
|
|
|
|
Tentative Exam Dates:
·
The
7th week
·
The
15th Week
University’s Code of Academic Integrity
Florida International University is a community
dedicated to generating and imparting knowledge through excellent teaching and
research, the rigorous and respectful exchange of ideas, and community service.
All students should respect the right of others to have an equitable
opportunity to learn and honestly to demonstrate the quality of their learning.
Therefore, all students are expected to adhere to a standard of academic
conduct, which demonstrates respect for themselves, their fellow students, and
the educational Mission of the University. All students are deemed by the
University to understand that if they are found responsible for academic
misconduct, they will be subject to the Academic Misconduct procedures and
sanctions, as outlined in the Student Handbook.
More information can be found at http://academic.fiu.edu/academic_misconduct.html
Department Regulations Concerning
Incomplete Grades
To qualify for an Incomplete, a student:
1. Must contact (e.g., phone, email, etc.) the instructor
or secretary before or during missed portion of class.
2. Must be passing the course prior to that part of the
course that is not completed
3. Must make up the incomplete work through the
instructor of the course
4. Must see the Instructor. All missed work must be finished before last
two weeks of the following term.
University policies on sexual
harassment, and religious holidays, and information on services for students
with disabilities
Please visit the following websites: http://academic.fiu.edu/, and http://drc.fiu.edu
Course Policies:
· Academic
Misconduct: For work submitted, it is
expected that each student will submit their own original work. Any evidence of
duplication, cheating or plagiarism will result at least a failing grade for
the course.
· Unexcused
Absences: Two unexcused absences are
permitted during the term. More than two will result in the loss of points from
your final grade. (1 point per absence
above two, 3 points per absence above 5).
· Excused
Absences: Only emergency medical
situations or extenuating circumstances are excused with proper
documentation. After reviewing
documentations, you are required to email a description of the excuse and
absence dates as a written record to kaleemf@fiu.edu.
· On Time: As in the workplace, on time arrival and preparation
are required. Two “lates”
are equivalent to one absence. (Leaving
class early is counted the same as tardy.)
· Deadlines: Assignments are due at the beginning of the class
period on the date specified. Assignments submitted late (within 1 week) will
receive half credit.
·
To
get assistance try to see me by an appointment.
·
Students
are encouraged to ask questions and to discuss course topics with the
instructor and with each other.
·
Any work submitted
should display Panther ID number and should be signed, as the students’ own
work, and that no unauthorized help was obtained.
·
Cell
phones, communicators, MP3 players, head sets are not allowed to be used in the
class.
· DO NOT send assignments by email.
· Instructor reserves right to change course materials
or dates as necessary.
Exam policy
1.
Make
sure to complete the assigned homework in order to do well in the exam.
2.
All
exams are closed book and closed notes.
3.
Use
of any electronic device with keyboard is prohibited. This also applies to
cellphones with messaging system.
4.
No
discussion is permitted during the exams.
5.
Instructor
is not compelled to give credit for something he cannot read or follow
logically.
6.
Cheating
is considered as a serious offense. Students who are caught will receive the
appropriate consequences.
Class Schedule
Refer to Course Schedule.
Special Dates to Remember:
·
The last day to withdraw from a course is March 16, 2020
·
Last day of Spring semester classes April 25, 2020
·
Final Exam, April 27, 2020
|
Week |
Topics and Tasks |
|
1 01/05-01/11 |
|
|
2 01/12-01/18 |
ü Introduction to Legged Robotics ü Basics of Rigid Body Kinematics ü Application of Rigid Body
Kinematics (optional for EEL3664, self-study for
EEL5669) ü Worked Exercise 1 & 2 (optional for EEL3664, self-study for EEL5669) ü Example of Wheeled, legged and
Flying Robots |
|
3 01/19-01/25 |
|
|
4 01/26-02/01 |
ü Introduction to Wheeled Locomotion ü Differential Kinematics ü Wheeled Kinematics ü Worked Exercise Ø Homework (1) (both
EEL3664 and EEL5669) |
|
5 02/02-02/08 |
ü Sensors ü IMU ü GPS ü Motion Capture systems ü Laser range finder ü RGBD/time-of-flight/sonar |
|
6 02/09-02/15 |
ü Camera Image Formation, Perspective
Projection ü Introduction to Computer Vision ü Omnidirectional Projection, Camera
Calibration, Unified Model ü Stereo Vision ü Worked Example: Structure from
Motion |
|
7 02/16-02/22 |
ü Correlation and Convolution ü Edges and Points ü Worked Example on Image Filtering
ü Place Recognition ü The Error Propagation Law ü Line Extraction |
|
8 02/23-02/29 |
· Spring Break |
|
9 03/01-03/07 |
|
|
10 03/08-03/14 |
ü Introduction to Map-Based
Localization ü Refresher on Probability Theory
ü The Markov Approach ü The Kalman Filter Approach |
|
11 03/15-03/21 |
ü Monocular SLAM and beyond ü Worked Example on SLAM
|
|
12 03/22-03/28 |
ü Introduction ü Collision Avoidance ü Potential Field Methods ü Worked Example on Harmonic
Potential Fields
|
|
13 03/29-04/04 |
· Planning II ü Graph Construction ü Graph Search ü Worked Example |
|
14 04/05-04/11 |
·
Project II: Room Navigation on Sparki ·
Quiz II |
|
15 04/12-04/18 |
|
|
16 04/19-04/25 |
|