Fall 2019 Department of Computing Science University of Alberta |
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Instructor:
Dr. Hong Zhang, 407 Athabasca Hall, 492-7188, hzhang@ualberta.ca
This course is concerned with the subject of autonomous
robot navigation. The students will become familiar with related mobile
robotics research and study a number of classical and modern algorithms.
Specifically, the course will focus
on how a mobile robot builds a map and localizes itself in that map at
the same time (the so-called SLAM problem), by making use of the
information collected by its sensors such as laser range finders
and cameras. The lectures will introduce both basic and advanced SLAM
algorithms, and the students will gain an in-depth understanding of these
algorithms by both reading research papers and examining
their software implementations. Class lectures and homework assignments
will rely on the Robot Operating System (ROS) - which provides libraries
and tools to help software developers quickly create robot applications -
to control robots in simulated environments and study SLAM algorithms on benchmark
datasets.
Graduate student status in Computing Science or consent of the instructor; personal Linux (running Ubuntu 16.04) computer and familarity with installing and developing software (in either Python or C++) on Ubuntu. Reading Assignments
Lecture Notes
Readings
Student evaluation is based on four assignments (40%), one midterm (20%) and the course project (40%). |
