Autonomous Mobile Robotics

1. Autonomous Mobile Robotics Introduction

2. People • Lecturers • Daniel Asmar (da20@aub.edu.lb ) • SevagBabikian(sb56@aub.edu.lb ) Introduction

3. General Information • Textbooks (references) • Kelly, A. Mobile Robotics: Mathematics, Models, and Methods. Cambridge University Press, 2013 • Siegwart, Nourbakhsh, and Scaramuzza. Introduction to Autonomous Mobile Robots, MIT Press, 2nd edition, 2011. • Thrun, S. , Burgard, W., Fox, D. Probabilistic Robotics, MIT press, 2005. Introduction

4. Homework & project Assignmentsare given for you to practice and learn the theory and labs . These are group-based assignments. A project where you will work in teams of 3 students. I expect this to be the most fun part of the course. The outcome of the project will be showcased in the symposium. The project this year is one of a maze solving problem. Introduction

5. Timetable Introduction

6. Timetable Introduction

7. Introduction to mobile robotics Introduction

8. What is a robot? • A robot is a mechatronics system that can perform a task independently. • Robots can be: • autonomous or • semi-autonomous or • remote-controlled. • Robot are can be broadly categorized as: • static (such as industrial robots), or • mobile (which can move around in their environment) Introduction

9. Static versus Mobile Static (Industrial) Mobile Introduction

10. Autonomous mobile robots autonomy Vehicle Actuators Vehicle model Sensors Control Vehicle autonomy Path & motion planning Localization Perception Independent from user Localization & mapping Independent from environment Introduction

11. Darpa Grand ChallengeTeam Odin (Virginia Tech) 3rd place Introduction

12. Model & Actuation • Model: • Ford Escape • 2.5L • 6 speed automatic transmission • Ackerman steering • Actuation • Steer-by-wire • Brake-by-wire • Throttle-by-wire • Manual override Introduction

13. Sensors Introduction

14. Team Odin Introduction