Mobile Robotics

Објавено: June 28, 2022
1. Course Title Mobile Robotics
2. Code 4ФЕИТ01Л008
3. Study program КСИАР
4. Organizer of the study program (unit, institute, department) Faculty of Electrical Engineering and Information Technologies
5. Degree (first, second, third cycle) First cycle
6. Academic year/semester IV/8 7. Number of ECTS credits 6
8. Lecturer D-r Gorjan Nadzinski
9. Course Prerequisites Passed: Robotics
10. Course Goals (acquired competencies): The students will be introduced to the challenges concerning the modeling and control of mobile robots. Upon course completion, the students will be capable of implementing environment interpretation, data processing, mapping, and control algorithms in mobile robotics.
11. Course Syllabus: Introduction and motivation. Locomotion systems. Basic concepts of robot mobility. Sensors and actuators in mobile robots. Kinematics and dynamics of mobile robots – land vehicles. Kinematics and dynamics of mobile robots – aerial vehicles. Control of mobile robots. Localization, perception, SLAM (Simultaneous localization and mapping). Working with Robot Operating System – ROS: filesystem, creating and building packages, understanding nodes, topics, and services, creating publishers and subscribers.
12. Learning methods: Combined: presentations, homework, project assignments, practical laboratory work.
13. Total number of course hours 2 + 2 + 1 + 0
14. Distribution of course hours 180
15. Forms of teaching 15.1. Lectures-theoretical teaching 30
15.2. Exercises (laboratory, practice classes), seminars, teamwork 45
16. Other course activities 16.1. Projects, seminar papers 30
16.2. Individual tasks 30
16.3. Homework and self-learning 45
17. Grading 17.1. Exams 0
17.2. Seminar work/project (presentation: written and oral) 30
17.3. Activity and participation 0
17.4. Final exam 70
18. Grading criteria (points) up to 50 points 5 (five) (F)
from 51to 60 points 6 (six) (E)
from 61to 70 points 7 (seven) (D)
from 71to 80 points 8 (eight) (C)
from 81to 90 points 9 (nine) (B)
from 91to 100 points 10 (ten) (A)
19. Conditions for acquiring teacher’s signature and for taking final exam Completion of the laboratory work assignments
20. Forms of assessment Two partial written exams are envisaged during the semester (at the middle and the end of the semester, each with a duration of 120 minutes), as well as a mandatory project that the students are supposed to finish and present during the semester.

1. The students who have passed the partial exams and have successfully finished and presented the project, are considered to have passed the course. The presentation of the project is with duration not longer than 60 minutes. The final grade is formed based on the points from the partial exams and the points obtained from the project.

2. In the planned exam sessions a final written exam is taken (duration 120 minutes). The students who have passed the final written exam, and have finished and presented the mandatory project previously during the semester, are considered to have passed the course. The final grade is formed based on the points from the exams, and the points acquired from the project.
21. Language Macedonian and English
22. Method of monitoring of teaching quality Internal evaluation and polls
23. Literature
23.1. Required Literature
No. Author Title Publisher Year
1 Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza Introduction to Autonomous Mobile Robots, Second Edition MIT Press 2011
2 Sebastian Thrun, Wolfram Burgard, Dieter Fox Probabilistic Robotics MIT Press 2005