| 1. | Course Title | Autonomous Mobile Robots | |||||||||||
| 2. | Code | 4ФЕИТ01002 | |||||||||||
| 3. | Study program | 6-ARSI,19-MV | |||||||||||
| 4. | Organizer of the study program (unit, institute, department) | Faculty of Electrical Engineering and Information Technologies | |||||||||||
| 5. | Degree (first, second, third cycle) | Second cycle | |||||||||||
| 6. | Academic year/semester | I/1 | 7. | Number of ECTS credits | 6.00 | ||||||||
| 8. | Lecturer | Dr Dushko Stavrov | |||||||||||
| 9. | Course Prerequisites | ||||||||||||
| 10. | Course Goals (acquired competencies):
To master the techniques for mobile robots localization, planning and navigation and to be able to successfully implement them in navigating a mobile robot. |
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| 11. | Course Syllabus:
Introduction: history, classification, application, examples of mobile robots. Locomotion: legged and wheeled mobile robots, configurations, actuators, mathematical models of mobile robots kinematics, and dynamics. Sensors for mobile robots: sensor classification, non/vision, and vision sensors. Mobile robot localization: classification, speed, position, and orientation of a mobile robot based on sensor information, a fusion of sensors information, application of Kalman filters. Mobile robots planning and navigation: planning and navigation algorithms, map representation, avoiding of obstacles, trajectories planning. Aerial and underwater mobile robots. Multi-robot systems. |
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| 12. | Learning methods:
Slide presentations, interactive lectures, exercises (use of equipment and software), teamwork, case studies, invited guest lecturers, independent preparation and defense of project and seminar work, learning in digital environment (forums, consultations). |
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| 13. | Total number of course hours | 180 | |||||||||||
| 14. | Distribution of course hours | 3 + 3 | |||||||||||
| 15. | Forms of teaching | 15.1 | Lectures-theoretical teaching | 45 hours | |||||||||
| 15.2 | Exercises (laboratory, practice classes), seminars, teamwork | 45 hours | |||||||||||
| 16. | Other course activities | 16.1 | Projects, seminar papers | 30 hours | |||||||||
| 16.2 | Individual tasks | 30 hours | |||||||||||
| 16.3 | Homework and self-learning | 30 hours | |||||||||||
| 17. | Grading | ||||||||||||
| 17.1 | Exams | 0 points | |||||||||||
| 17.2 | Seminar work/project (presentation: written and oral) | 50 points | |||||||||||
| 17.3. | Activity and participation | 0 points | |||||||||||
| 17.4. | Final exam | 50 points | |||||||||||
| 18. | Grading criteria (points) | up to 50 points | 5 (five) (F) | ||||||||||
| from 51 to 60 points | 6 (six) (E) | ||||||||||||
| from 61 to 70 points | 7 (seven) (D) | ||||||||||||
| from 71 to 80 points | 8 (eight) (C) | ||||||||||||
| from 81 to 90 points | 9 (nine) (B) | ||||||||||||
| from 91 to 100 points | 10 (ten) (A) | ||||||||||||
| 19. | Conditions for acquiring teacher’s signature and for taking final exam | Successfully completed project assignment. | |||||||||||
| 20. | Forms of assessment |
The students are obliged to complete and present a project assignment during the semester. A final written and/or oral exam is scheduled during the exam sessions. The students complete the course if they pass the final exam and had previously completed and presented the project assignment during the semester. The final grade takes into account the points from both the final exam and the project assignment. |
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| 21. | Language | Macedonian and English | |||||||||||
| 22. | Method of monitoring of teaching quality | internal evaluation and surveys | |||||||||||
| 23. | Literature | ||||||||||||
| 23.1. | Required Literature | ||||||||||||
| No. | Author | Title | Publisher | Year | |||||||||
| 1. | Roland Siegwart | Introduction to Autonomous Mobile Robots | MIT-Press | 2004 | |||||||||
| 23.2. | Additional Literature | ||||||||||||
| No. | Author | Title | Publisher | Year | |||||||||
| 1. | Alonzo Kelly | Mobile Robotics: Mathematics, Models, and Methods | Cambridge University Press | 2013 | |||||||||
| 2. | Gerald Cook | Mobile Robots-Navigation, Control and Remote Sensing | Wiley and Sons, Inc. | 2011 | |||||||||
