Project 1

Warm up: Patrol robot, a bump'n'go robot, and a friendly robot.


Collision avoidance.


Project 2

Particle filters for robot localization.





Projects

There will be four robot programming project assignments. The projects will test your ability to take material presented in the lectures and translate it into practice on a mobile robot. We have five AmigoBot mobile robots for use in the class. The robot control architecture we will use is called Saphira, and its robot control language is called Colbert. Some lectures will be devoted to the explanation of these tools relative to the current project.

The projects tasks will consist of programming the robots, using a combination of C++ and Colbert, to perform a task. The task will be related to the material covered in the lectures. Students will work within the existing Saphira architecture, using the tools that it provides. The projects will be done in groups of 2-3 people. An important part of the project experience is learning to work efficiently within a group. The use of materials and systems commonly available, e.g., MATLAB, is encouraged.

We try to specify the tasks in as clear a way as possible. Usually there is example code that illustrates part of the task. If there is any doubt about the intent of a project, you are urged to communicate your concerns as soon as possible.

Each group is given a laptop to drive the robot around. You can also work with the simulator on your own desktop machines. You'll need to install the software for the platform of your choice.


Robot control software