Study-Unit Description

Study-Unit Description


TITLE Autonomous Robotic Systems

LEVEL 03 - Years 2, 3, 4 in Modular Undergraduate Course


DEPARTMENT Systems and Control Engineering

DESCRIPTION This study-unit introduces the field of robotics to the engineering student. It provides an overview of the most fundamental topics in robotics, and allows students to apply their theoretical and practical engineering skills to study, design and implement real robotic systems. The study-unit is structured in two main parts. The first part, deals with robotic manipulators. It introduces the main manipulator configurations, spatial transformations, forward and inverse kinematics, dynamics, trajectory planning, and control. The second part, focuses on mobile robots, and covers topics in locomotion, kinematic and dynamic robot modelling, sensing and actuation, navigation, control, and modern tools used for the programming and simulation of modern robots.

Study-unit Aims:

The aims of the study-unit are to:

1) Introduce the main robotic manipulator configurations;
2) Explain forward and inverse kinematics, and the basic dynamics of a robotic arm;
3) Present basic trajectory planning and control schemes for robotic manipulators.

Part B: Mobile Robots
1) Present the most common forms of robot locomotion;
2) Explain the kinematic and dynamic model of various mobile robots;
3) Cover various sensing and actuation mechanisms typically used on robots;
4) Present the basics of robot navigation, including: localization, mapping, path planning and obstacle avoidance;
5) Present a number of control schemes for posture stabilization and tracking;
6) Expose the student to robot programming and simulation tools, such as ROS.

Learning Outcomes:

1. Knowledge & Understanding
By the end of the study-unit the student will be able to:

1) Describe different types of fixed and mobile robot configurations;
2) Describe various algorithms in motion planning and control of robotic manipulators;
3) Describe various sensing and actuation mechanisms typically used on robots;
4) Explain various algorithms that are used for mobile robot navigation and control.

2. Skills
By the end of the study-unit the student will be able to:

1) Derive mathematical models of various fixed and mobile robots;
2) Implement basic algorithms for the motion planning and control of robotic arms;
3) Select appropriate sensors and actuators for a given robotic application;
4) Implement basic algorithms for navigation and control of mobile robots;
5) Apply a number modern tools for the programming and simulation of robots.

Main Text/s and any supplementary readings:

[1] P. Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB®, Berlin, Germany: Springer, 2011.
[2] R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, Introduction to Autonomous Mobile Robots, ed. 2, Cambridge, Massachusetts, US: The MIT Press, 2011.


[3] G. Dudek and M. Jenkin, Computational Principles of Mobile Robotics, Cambridge, UK: Cambridge University Press, 2000.
[4] L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators, ed. 2, London, UK: Springer-Verlag, 2000.

ADDITIONAL NOTES Co-Requisite Study-Unit: SCE3113

STUDY-UNIT TYPE Lecture, Independent Study, Project and Tutorial

Assessment Component/s Assessment Due Resit Availability Weighting
Presentation (20 Minutes) SEM1 No 5%
Report SEM1 No 10%
Project SEM1 No 35%
Online Examination (1 Hour and 30 Minutes) SEM1 Yes 50%

LECTURER/S Marvin Bugeja

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The availability of optional units may be subject to timetabling constraints.
Units not attracting a sufficient number of registrations may be withdrawn without notice.
It should be noted that all the information in the description above applies to study-units available during the academic year 2020/1. It may be subject to change in subsequent years.