Control of Mobile Robots

Lecturer:

Pavel Nahodil (gar.)

Tutor:

Pavel Nahodil (gar.)

Supervisor:

Department of Cybernetics

Synopsis:

Design of Intelligent Mobile Robots. Known Control Architectures. Top-Down

and Bottom-Up Approaches. Overview and Comparison. Distributed Autonomous

Motion Control. Modelling. Realisation. Neighbourhood Mapping. Needed

Sensors. Ground of Ethology. Imprinting. Taxe. Stimuli, Receptors. Multiple

Motivated Behaviour. Reactive and Planning Behaviour. Integration. Community

Robots Structure. Task- or Behaviour-Oriented Robots. Ways and Realisation

of Robots Co-operation, Motivation, Observation, Perception, Communication

and Imitation. Multi-Agent reinforcement Learning. Q-Learning. Action

Selection Mechanism, Learning Method, Exploration Strategy. Emotional

Learning. Evolutionary Approach to Synthetic Biology. Artificial Life.

Virtual World Different Approaches. Robots Competition, RoboCup, Strategy

Selection, Implementation. Open Problems.

Requirements:

Syllabus of lectures:

Design of Intelligent Mobile Robots. Known Control Architectures. Top-Down

and Bottom-Up Approaches. Overview and Comparison. Distributed Autonomous

Motion Control. Modelling. Realisation. Neighbourhood Mapping. Needed

Sensors. Ground of Ethology. Imprinting. Taxe. Stimuli, Receptors. Multiple

Motivated Behaviour. Reactive and Planning Behaviour. Integration. Community

Robots Structure. Task- or Behaviour-Oriented Robots. Ways and Realisation

of Robots Co-operation, Motivation, Observation, Perception, Communication

and Imitation. Multi-Agent reinforcement Learning. Q-Learning. Action

Selection Mechanism, Learning Method, Exploration Strategy. Emotional

Learning. Evolutionary Approach to Synthetic Biology. Artificial Life.

Virtual World Different Approaches. Robots Competition, RoboCup, Strategy

Selection, Implementation. Open Problems.

Syllabus of tutorials:

Study Objective:

Study materials:

Arkin, Ronald, C.: Behaviour Based Robotics, MIT Press, Massachusetts

1999

Dudek, G., Jenkin, M.: Computation Principles of Mobile Robotics, Cambridge University, Press,2000.

Note:

Time-table for winter semester 2011/2012:

Time-table is not available yet

Time-table for summer semester 2011/2012:

	06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
Mon
Tue	roomKN:E-112 Nahodil P. 12:45–14:15 (lecture parallel1) Karlovo nám. Cvičebna K333
Fri
Thu
Fri	roomKN:E-132 Nahodil P. 14:30–16:00 (lecture parallel1 parallel nr.101) Karlovo nám. Laboratoř PC

The course is a part of the following study plans:

• Doctoral studies, daily studies (compulsory elective course)
• Doctoral studies, combined studies (compulsory elective course)
• Doctoral studies, structured daily studies (compulsory elective course)
• Doctoral studies, structured combined studies (compulsory elective course)