CSCA 5312: Basic Robotic Behaviors and Odometry
ÌýÌýWork you complete in the non-credit experience will transfer to the for-credit experience when you upgrade and pay tuition after this course's for-credit experience launches. See How It Works for details.
Course Type: Elective
Specialization:ÌýIntroduction to Robotics with Webots
Instructor:ÌýDr.ÌýNikolaus Correll, Professor of Computer Science
Prior knowledge needed: ​
- Programming languages: Basic to intermediate Python
- Math: Basic math through college algebra
- Technical requirements: Windows or Mac, Linux, Webots
Learning Outcomes
- Model mechanisms, sensors and actuators in a physics-based online simulator.
- Understand basic reactive and discrete controllers.
- Perform forward kinematics computations for simple (non-)Holonomic mechanisms.
Course Grading Policy
| Assignment | Percentage of Grade |
|---|---|
| Quiz:ÌýWhat is a Robot? | 3% |
| Quiz:ÌýHands-on: Controlling Motors Using Position or Velocity Control | 4% |
| Quiz:ÌýSensors | 4% |
| Quiz:ÌýHands-on: Exploring Light Sensors | 5% |
| Quiz:ÌýTask Execution | 4% |
| Peer Review:ÌýBasic Reactive Behaviors | 25% |
| Quiz:ÌýCoordinate Systems and Degrees of Freedom | 7% |
| Quiz:ÌýHands-on: Simple Odometry | 8% |
| Peer Review:ÌýRobot Localization by Odometry and Loop Closure | 30% |
| CSCA 5312 Basic Robotic Behaviors and Odometry Final Exam | 10% |
Course Content
Duration: 7 hours
This week introduces the course and gives you an opportunity to introduce yourself. You will prepare for the rest of the course by learning about the main operation tool we will use throughout, the realistic robotics simulator "Webots". You will become familiar with Webots, its hosting website, and will begin to develop your foundation in navigating the simulator.
Duration: 6 hours
This week introduces the devices that allow robots to move and effectuate changes in their environment ("actuators"), as well as perceive their world ("sensors").
Duration: 4Ìýhours
In this week, you will experiment with basic reactive robotic behaviors and understand the challenges of task execution.
Duration: 5 hours
This week you will learn how to formally describe the global pose of a robot and how different actuators can affect this pose.
Duration: 5 hours
In this week, you will learn how to keep track of actuation commands and hence estimate the pose of your robot. You will use information from the environment to improve pose estimation and understand the concept of "holonomy".
Duration: 1 hour
Final Exam Format: Timed, in-course exam, not proctored
This module contains materials for the final exam. If you've upgraded to the for-credit version of this course, please make sure you review the additional for-credit materials in the introductory module and anywhere else they may be found. The final exam for this course is a graded assignment with single answer questions. The exam will test this conceptual knowledge using multiple-choice questions based on readings and practice quizzes throughout the course.
Notes
- Cross-listed Courses:ÌýCoursesÌýthat are offered under two or more programs. Considered equivalent when evaluating progress toward degree requirements. You may not earn credit for more than one version of a cross-listed course.
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