University at Buffalo 3 credits Computer Science & Engineering
Robotics Algorithms provides a comprehensive introduction to the software side of making mobile robots autonomous. We begin with an understanding of various kinds of robots and their kinematics. We then study the various sensors that can be used, and algorithms to perceive what the robot is doing (proprioception) as well as what is around it (exteroception). Most sensing and actuation is uncertain. We study Bayes filter as the framework for probabilistically reasoning about this uncertainty while being able to predict the robot state at any given instant. Specifically, we look at the problems of localization (where am i?) and mapping (what is around me?), the two fundamental problems in mobile robots. We then conclude the course by looking at planning and navigation algorithms to perform a given task along with robot control architectures to put all these together to achieve autonomy
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