EEL 3664 INTRODUCTION TO AUTONOMOUS SYSTEMS
Course Description
This course provides a comprehensive introduction to the fundamental components of autonomous systems. In particular, the course will expose the students to the concept of autonomous systems from the perspective of autonomous mobile robotic systems. Topics include sensors and actuators, embedded computing and control, vision, introduction to intelligent control and reasoning, and finally, ethics.
Course Objectives
The objective of this course is to introduce the students to the concept of autonomous systems. Autonomous systems are capable of perceiving, reasoning about, and acting autonomously in a variety of situations and environments. The topics in the course will expose the students to the fundamental building blocks of autonomous systems, ranging from hardware, software, system integration, low-level system control to high-level intelligent control. Throughout the course, the students will have the opportunity to apply the concepts learned in class to build and program an autonomous mobile robotic system.
Prerequisite
C/C++ and/or Java, e.g. EEL 2880 Applied Software Techniques in Engineering
Textbook
- Siegwart, Nourbaksh and Scaramuzza, Introduction to Autonomous Mobile Robots, 2nd Edition. MIT Press, 2011. ISBN: 9780262015356
- Nikolaus Correll, Introduction to Autonomous Robots, Magellan Scientific. ISBN-13: 978-0692700877.
Course Materials
This course will use a mobile robot simulator V-REP for two projects. A free Education (Edu) version can be downloaded from https://www.coppeliarobotics.com/downloads
Topics Covered
- Autonomous system fundamentals
- C/C++ programming
- MATLAB scripts
- Sensors and actuators
- Vision and Feature Extraction
- Embedded systems and control for robotic
- Localization
- Introduction to navigation, planning, and decision making
- Ethics
Relationship of course to ABET objectives
In this course, the student will have to show:
- an ability to apply knowledge of mathematics, science, and engineering
- an ability to identify, formulate, and solve engineering problems
- an ability to recognize the need for, and an ability to engage in lifelong learning
- an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice.
Grading Scheme
| Homework/Problem Sets | 20% |
| Projects and Reports | 40% |
| Two Pop-Up Quiz (Not Scheduled) | 10% |
| Two Scheduled Quiz/Exam (15% each) | 30% |
| Total | 100% |
Tentative Grading Scale
| A | 100-95 | B+ | 86-90 | C+ | 75-80 | D | 60-70 | F | 0-60 |
| A- | 90-95 | B | 83-86 | C | 70-75 | ||||
| B- | 80-83 |
Tentative Exam Dates:
- The 8th week
- The 14th Week
University’s Code of Academic Integrity
Florida International University is a community dedicated to generating and imparting knowledge through excellent teaching and research, the rigorous and respectful exchange of ideas, and community service. All students should respect the right of others to have an equitable opportunity to learn and honestly demonstrate the quality of their learning. Therefore, all students are expected to adhere to a standard of academic conduct, which demonstrates respect for themselves, their fellow students, and the educational mission of the University. All students are deemed by the University to understand that if they are found responsible for academic misconduct, they will be subject to the Academic Misconduct procedures and sanctions, as outlined in the Student Handbook.
More information can be found at http://academic.fiu.edu/academic_misconduct.html
Department Regulations Concerning Incomplete Grades
To qualify for an Incomplete, a student:
- Must contact (e.g., phone, email, etc.) the instructor or secretary before or during the missed portion of the class.
- Must be passing the course before that part of the course that is not completed
- Must make up the incomplete work through the instructor of the course
- Must see the Instructor. All missed work must be finished before the last two weeks of the following term.
University policies on sexual harassment, religious holidays, and information on services for students with disabilities
Please visit the following websites: http://academic.fiu.edu/, and http://drc.fiu.edu
Course Policies:
- Academic Misconduct: For work submitted, it is expected that each student will submit their original work. Any evidence of duplication, cheating, or plagiarism will result in at least a failing grade for the course.
- Unexcused Absences: Two unexcused absences are permitted during the term, but you need to send an email before the class to Dr. Bai, obai@fiu.edu. More than two will result in the loss of points from your final grade. (1 point per absence above two, 3 points per absence above 5).
- Excused Absences: Only emergency medical situations or extenuating circumstances are excused with proper documentation. After reviewing the documentation, you are required to email a description of the excuse and absence dates as a written record to kaleemf@fiu.edu or obai@fiu.edu.
- On-Time: As in the workplace, on-time arrival and preparation are required. Two “lates” are equivalent to one absence. (Leaving class early is counted the same as being tardy.)
- Deadlines: Assignments are due at the beginning of the class period on the date specified. Assignments submitted late (within 1 week) will receive half credit.
- To get assistance try to see me by an appointment.
- Students are encouraged to ask questions and to discuss course topics with the instructor and with each other.
- Any work submitted should display the Panther ID number and should be signed, as the students’ work and no unauthorized help was obtained.
- Cell phones, communicators, MP3 players, and headsets are not allowed to be used in the class.
- DO NOT send assignments by email.
- The instructor reserves the right to change course materials or dates as necessary.
Exam policy
- Make sure to complete the assigned homework to do well in the exam.
- All exams are closed books and closed notes.
- Use of any electronic device with a keyboard is prohibited. This also applies to cellphones with a messaging system.
- No discussion is permitted during the exams.
- The instructor is not compelled to give credit for something he cannot read or follow logically.
- Cheating is considered a serious offense. Students who are caught will receive the appropriate consequences.
| Week | Topics and Tasks |
| 1 | Course Syllabus and Schedule Introduction and Motivation |
| 2 | Martin Luther King Day (University closed) Locomotion Concepts (P.1~P.37) Introduction to Legged Robotics Example of Wheeled, legged and Flying Robots Fundamentals of Locomotion in Legged Robotics Stability analysis of Dynamic Locomotion (optional for EEL3664, self-study for EEL5669) |
| 3 | Mobile Robots Kinematics I (P.1~P.21) Introduction to Wheeled Locomotion Homework (1) (both EEL3664 and EEL5669) Project Preparation: Introduction to V-REP Robotic Platform |
| 4 | Mobile Robots Kinematics II (P.22~P.42) Differential Kinematics Wheeled Kinematics Homework (1) due on Canvas before class Project I: Line Tracking on Broken lines (1) |
| 5 | Mobile Robots Kinematics III (P.43~P.49) Wheeled Mobile Robot Motion Control Perception I Sensors, (IMU, GPS) Motion Capture systems, Laser range finder, RGBD/time-of-flight/sonar Project I: Line Tracking on Broken lines (2) |
| 6 | Perception II (P.1~P.33) Introduction of Computer Vision Project I: Line Tracking on Broken lines (3) |
| 7 | Perception II (P.34~P.53) Camera Image Formation, Perspective Projection Perception II (P.54~P.78) (optional for EEL3664, self-study for EEL5669) Omnidirectional Projection, Camera Calibration, Unified Model Stereo Vision Project I: Line Tracking on Broken lines (Performance Test and Grade) |
| 8 | Spring Break |
| 9 | Perception III: Fundamentals of Image Processing (P.1~P.20) Correlation and Convolution Quiz I |
| 10 | Perception III: Fundamentals of Image Processing (P.21~P.91) Edges and Points Corner Detection (optional for EEL3664, self-study for EEL5669) Homework (2) (optional for EEL3664, required for EEL5669) Review of Project I & Introduction of Project II – Line Tracking with Obstacles |
| 11 | Perception IV: Place Recognition & Line Fitting Place Recognition (P.1~P.18) The Error Propagation Law (optional for EEL3664, self-study for EEL5669) Line Extraction (optional for EEL3664, self-study for EEL5669) Homework (2) due on Canvas before class Project II: Line Tracking with Obstacles (1) |
| 12 | Localization I Introduction to Map-Based Localization Refresher on Probability Theory Localization II (optional for EEL3664, self-study for EEL5669) The Markov Approach The Kalman Filter Approach Homework (3) (both EEL3664 and EEL5669) Project II: Line Tracking with Obstacles (2) |
| 13 | SLAM I The SLAM problem SLAM II (optional for EEL3664, self-study for EEL5669) Monocular SLAM and beyond Worked Example on SLAM Homework (3) due on Canvas before class Project II: Line Tracking with Obstacles (3) |
| 14 | Planning I Introduction Collision Avoidance Project II: Line Tracking with Obstacles (Performance Test and Grade) |
| 15 | Summary Quiz II |
| 16 | Final exams (undetermined) |