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IPRO-308: Collaborative mobile robot surveyors

Fall 2003 (Tue, Thu 3:15pm - 4:30pm, SB 201)$\sim$ agam/ipro308/

Administrative information




topic type weight
project plan and progress report group 5 %
poster and presentation group 20 %
website and final report group 10 %
group achievements group 15 %
participation and personal reports personal 20 %
personal achievements personal 30 %
total   100%


  1. Peer evaluation will be used in part to individually weight the grade of group tasks.

Project outline

Project description

Technological developments in recent years make it possible to construct small autonomous mobile platforms equipped with computing hardware and sensors that can communicate with each other and/or with a central station. The uses of such platforms are numerous and range from military and security applications to monitoring and inspection. While low level tasks such as obstacle avoidance should be handled by the mobile robot in order to free the attention of a human supervisor, higher level tasks may require user intervention based on images and other sensory information which is provided by the platform. The way in which tasks can be specified based on the limited information provided by the surveyor(s) in a natural way is an interesting problem without a simple solution. This is mainly due to the fact that 2D images and other sensory information are only partial representations of the real 3D world. In the previous semester the IPRO team built a basic mobile platform containing a controller unit, multiple range sensors, and wireless communication. In this semester the project will focus on the following:

The project requires students with programming/hardware design skills capable and/or interested in: robotics, computer vision, computer graphics, artificial intelligence, and hardware interface and design. The time devoted to the project by the participants is expected to be equal to the time devoted to a normal 3 credit hour course. The participants are expected to provide personal weekly progress reports. Please do not take this IPRO if you already have a very busy class schedule. Please note that all the participants are expected to have some programming skills.

What to expect from this course

IPRO courses vary in nature and so may differ from each other. The students is this IPRO section are expected to:

Mode of operation

The following is the expected mode of operation in this course:


None required. Suggested reference books:

Tentative schedule

# week topic assignment
1 Aug 25 introduction to mobile robotics motor control
2 Sep 1 introduction to mobile robotics sensor reading
3 Sep 8   project plan
4 Sep 15 motion control + path planning presentation  
5 Sep 22 self localization + operating system presentation  
6 Sep 29    
7 Oct 6   progress report
8 Oct 13 performance feedback; no class (Fall break)  
9 Oct 20 motion control + path planning demo  
10 Oct 27 self localization + operating system demo  
11 Nov 3 integration  
12 Nov 10 integration  
13 Nov 17 integration poster and presentation
14 Nov 24 no class (Thanksgiving) final report
15 Dec 1 demo and presentation rehearsal IPRO day (12/5)

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Gady Agam 2003-08-20