|
課程名稱 |
機器人知覺與學習
ROBOT PERCEPTION AND LEARNING |
|
開課學期 |
97-1 |
|
授課對象 |
電機資訊學院 資訊網路與多媒體研究所 |
|
授課教師 |
王傑智 |
|
課號 |
CSIE5117 |
|
課程識別碼 |
922EU3430 |
|
班次 |
|
|
學分 |
3 |
|
全/半年 |
半年 |
|
必/選修 |
選修 |
|
上課時間 |
星期四6,7,8(13:20~16:20) |
|
上課地點 |
資110 |
|
備註 |
本課程以英語授課。
限學士班三年級以上
總人數上限：40人 |
|
Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/971pal |
|
課程簡介影片 |
|
|
核心能力關聯 |
核心能力與課程規劃關聯圖 |
|
課程大綱
|
|
為確保您我的權利,請尊重智慧財產權及不得非法影印
|
|
課程概述 |
Robotics has achieved its great success to date in the world of industrial manufacturing. Robot arms, or manipulators, comprise a 2 billion dollar industry.
However, these commercial robots/manipulators suffer from a fundamental
disadvantage: lack of mobility. This course will cover both science and systems
that allows a mobile robot to move through a real-world environment to perform
its tasks, including action, perception, planning and learning. |
|
課程目標 |
The topics that will be discussed include:
The Action-Perception-Cognition Loop,
Locomotion,
Mobile Robot Kinematics,
Dynamics and Control,
Uncertainty,
Sensors and Sensing,
Localization (EKF, Markov),
Mapping (Feature-based, Grid-based approaches),
Object & Activity Recognition,
Path Planning,
Cooperative Mobile Robotics,and
Learning. |
|
課程要求 |
|
|
預期每週課後學習時數 |
|
|
Office Hours |
另約時間 |
|
指定閱讀 |
|
|
參考書目 |
|
|
評量方式
(僅供參考) |
|
|
週次 |
日期 |
單元主題 |
|
Week 1 |
9/18 |
Introduction
(Reading: Chapter 64 of Handbook of Robotics) |
|
Week 2 |
9/25 |
Perception and Sensors (rescheduled to 09/29, canceled due the typhoon) |
|
Week 3 |
10/02 |
Perception and Sensors (Chapters 4 and 21) |
|
Week 4 |
10/09 |
Range Sensors and Processing (Chapters 22 and 23) |
|
Week 5 |
10/16 |
Cameras and Image Processing (Chapters 4, 23, 24) |
|
Week 6 |
10/23 |
Localization (rescheduled to 10/20) |
|
Week 7 |
10/30 |
Mapping and SLAM |
|
Week 8 |
11/06 |
Midterm Exam I |
|
Week 9 |
11/13 |
Uncertainty and Probabilistic Robotics (Chapter 25) |
|
Week 10 |
11/20 |
Kalman filtering and SLAM (Chapters 36, 37 ) |
|
Week 11 |
11/27 |
Object Recognition (Chap. 23, http://people.csail.mit.edu/torralba/shortCourseRLOC/) |
|
Week 12 |
12/04 |
Kinematics of Manipulation and Locomotion (Chapters 1, 11, 17) |
|
Week 13 |
12/11 |
Planning and Obstacle Avoidance |
|
Week 14 |
12/18 |
Control and Architecture (Chapters 8 and 28) |
|
Week 15 |
12/25 |
Advanced Topics |
|
Week 16 |
1/01 |
National Holiday |
|
Week 17 |
1/08 |
Competition Qualification |
|
Week 18 |
1/15 |
Team Presentation and Final Competition
|
|