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13D051ARS - Unmanned Autonomous Robotic Systems

Course specification
Course title Unmanned Autonomous Robotic Systems
Acronym 13D051ARS
Study programme Electrical Engineering and Computing
Module
Type of study doctoral studies
Lecturer (for classes)
Lecturer/Associate (for practice)
    Lecturer/Associate (for OTC)
      ESPB 9.0 Status elective
      Condition The candidate is requested to show the basic knowledge of mechanics, electronics and system identification, advance knowledge of signal processing and automatic control theory, know-how regarding implementation of artificial intelligence, programming in Matlab (obligatory) and C/C++, Java, ROS or microcontroller programming, etc. Use of English is welcome.
      The goal The objectives regard to acquisition of the specific knowledge of modeling and identification of mechatronic/robotic systems, sensor-based navigation, motion planning and control synthesis of autonomous robotic systems such as wheel and track-based mobile robots, intelligent road vehicles and unmanned aerial rotor-crafts.
      The outcome As the expected outcome a new control algorithm or method verified by use of the simulator or the experimental system and reported appropriately.
      Contents
      Contents of lectures The topics considered regard to system modeling, design of intelligent navigation and control algorithms, simulation and experimental testing of autonomous robotic systems. Candidates choose one of the currently available sub-programs: 1) autonomous wheeled/ tracked mobile robots, 2) autonomous road vehicles for intelligent highway systems, and 3) unmanned micro-aerial vehicles (rotor-crafts).
      Contents of exercises Candidate is enabled working with the experimental indoor robotic systems (4WD rover) as well as outdoor unmanned micro-aerial vehicle (UMAV). Concerning of the intelligent road vehicles, testing is enabled by use of the corresponding software simulator.
      Literature
      1. A. Rodić, K. Addi, M. Jezdimirović, “Sensor-Based Intelligent Navigation and Control of Autonomous Mobile Robots in Advanced Terrain Missions”, Scientific Technical Review, Military Journal ISSN 1820-0206, Vol. 60, No. 2, pp. 7-15, 2010.
      2. Aleksandar Rodic, Milos Jovanovic, Svemir Popic, Gyula Mester, "Scalable Experimental Platform for Research, Development and Testing of Networked Robotic Systems in Informationally Structured Environments", Proceedings of the IEEE SSCI2011, Symposium
      3. A. Rodic, M. Vukobratovic, "Contribution to the Integrated Control Synthesis of Road Vehicles", IEEE Transaction on Control Systems Technology, ISSN: 1063-6536, Vol. 7, No. 1, pp. 64-78, January 1999
      4. A. Rodić, M. Vukobratović, Dynamics, Integrated Control and Stability of Automated Road Vehicles, Research monograph, ibidem-Verlag, Stuttgart, Germany, ISBN: 3-89821-203-3, (http://www.ibidem-verlag.com/epages/61235722.sf/de_DE/?ObjectPath=/Shops/61
      5. K. Addi, D. Goeleven, A. Rodic, “Nonsmooth Mathematical Modelling and Numerical Simulation of a Spatial Vehicle Dynamics”, Zeitschrift für Angewandte Mathematik und Mechanik (ZAMM), Wiley-VCH Verlag GmbH & Co. KGaA - Weinheim, ISSN: 0044-2267, DOI 10
      Number of hours per week during the semester/trimester/year
      Lectures Exercises OTC Study and Research Other classes
      6
      Methods of teaching The project task and literature are defined by professor. The candidate works independently regarding tasks imposed with occasional consultation by professor. Project tasks are of hardware or software type encouraging original student ideas. Candidates are provided by corresponding simulation software and/or experimental system. Candidate writes a project report and defends it by the professor.
      Knowledge score (maximum points 100)
      Pre obligations Points Final exam Points
      Activites during lectures 0 Test paper 0
      Practical lessons 0 Oral examination 30
      Projects
      Colloquia 0
      Seminars 70