The projects for this course will be in the general area of robotics.

More specifically we will work through a graduated series of projects that use the Player/Stage suite.

I'll provide computers with all the necessary software installed. If you want to set up your own machine (either to bring to class or to work on the projects at home), then here are some instructions.

We'll start with a simple simulated robot running in a simple environment, and hopefully progress to running programs on a real robot.

Project I

The first project is to write a wall-following algorithm for a simple simulated robot, one that is spookily like the robot we discussed in Lecture 3.

The attentive reader will realise that the controller we discussed in Lecture 3, is probably a good basis for implementation.

Project II

The second project is to extend the wall-following algorithm to run on a Pioneer robot.

Since the Pioneer has more sensors than the robot we used for Project I, it is easier to handle the task, and it is possible to deal with a more complex environment.

Project III

For the third project, we will start to have the robot work towards a goal. We will let the robot know where it is in the world, and also give it a location that it needs to move towards.

Of course, while it is doing this, it also needs to use its sensors to avoid obstacles.

Project IV

For the last project each group will tackle one of the following pieces of a larger effort: Each group will then be part of a super group which has the task of creating code that can jointly carry out these three tasks.

Above is an ocupancy grid map of the simulated space we used before.

Groups and tasks

Based on my understanding of everyone's preferences, I assigned the groups to the following tasks.

Group Task
Dmitry and Daniel Build map
Sergey and Orville Build map
Carlyle and YanboCreate plan
Stephen and LawrenceCreate plan
MIriam and BenjaminFollow plan
Hermes and MitchFollow plan