Autonomous Mobile Robotics (ME 425)

2025 Fall
Faculty of Engineering and Natural Sciences
Mechatronics(ME)
4
7
Mustafa Ünel munel@sabanciuniv.edu,
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English
Undergraduate
ENS206 ENS211
Formal lecture,Laboratory
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CONTENT

The course covers fundamental problems of autonomous mobile robotics including locomotion, perception, localization, planning and navigation. In the context of locomotion, legged, wheeled, and flying mobile robots will be discussed. In the perception part, various sensors that are used on mobile robots will be introduced and several sensor fusion algorithms will be presented. fusion algorithms will be presented. Localization Localization problems will be tackled in a probabilistic framework using Markov and Kalman Filtering techniques. Simultaneous Localization and Mapping (SLAM) problem and its variations will also be introduced and discussed. Finally, planning and navigation strategies will be covered.

OBJECTIVE

To teach fundamentals of autonomous mobile robotics that include locomotion, perception, localization, mapping, planning and navigation of mobile robots so that students can acquire a solid theoretical background and hands-on experience in mobile robotics.

LEARNING OUTCOMES

  • evaluate various locomotion mechanisms including legged, wheeled and flying locomotions
  • design feedback controllers for motion control of the wheeled mobile robots
  • select appropriate sensors for perception including non-visual and visual sensors
  • implement localization and mapping algorithms using Markov and Kalman filters
  • synthesize optimal paths using artificial potential functions
  • demonstrate hands-on experience with mobile robots

PROGRAMME OUTCOMES


1. Understand the world, their country, their society, as well as themselves and have awareness of ethical problems, social rights, values and responsibility to the self and to others. 1

2. Understand different disciplines from natural and social sciences to mathematics and art, and develop interdisciplinary approaches in thinking and practice. 1

3. Think critically, follow innovations and developments in science and technology, demonstrate personal and organizational entrepreneurship and engage in life-long learning in various subjects; have the ability to continue to educate him/herself. 1

4. Communicate effectively in Turkish and English by oral, written, graphical and technological means. 2

5. Take individual and team responsibility, function effectively and respectively as an individual and a member or a leader of a team; and have the skills to work effectively in multi-disciplinary teams. 2


1. Possess sufficient knowledge of mathematics, science, fundamental engineering, computational methods and program-specific engineering topics; use theoretical and applied knowledge of these areas in complex engineering problems. 5

2. Identify, define, formulate and solve complex engineering problems while considering the UN Sustainable Development Goals; choose and apply suitable analysis, design, estimation/prediction and modeling methods for this purpose. 5

3. Develop, choose and use modern techniques and tools that are needed for analysis and solution of complex problems faced in engineering applications; use information technologies effectively. 5

4. Have the ability to design a complex system, process, instrument or a product under realistic constraints and conditions, with the goal of fulfilling creative current and future requirements. 4

5. Use research methods, including conducting literature reviews, designing experiments, performing experiments, collecting data, analyzing results, and interpreting results, to investigate complex engineering problems or discipline-specific research topics. 5

6. Possess knowledge of business practices such as project management, risk management, change management, and economic feasibility analysis; awareness on entrepreneurship and innovation. 1

7. Possess knowledge of impact of engineering solutions on society, health and safety, the economy, sustainability, and the environment within the framework of the UN Sustainable Development Goals; awareness on legal outcomes of engineering solutions; awareness of acting impartially and inclusively without any form of discrimination; act in accordance with ethical principles, possessing knowledge of professional and ethical responsibilities. 2

8. Communicate effectively, both orally and in writing, on technical subjects, considering the diverse characteristics of the target audience (such as education, language, and profession). 4

ASSESSMENT METHODS and CRITERIA

  Percentage (%)
Final 30
Midterm 25
Assignment 28
Participation 5
Homework 12

RECOMENDED or REQUIRED READINGS

Textbook

- Introduction to Autonomous Mobile Robots, 2nd Edition, Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza, MIT Press, 2011.

Readings

- Computational Principles of Mobile Robotics, Gregory Dudek, Michael Jenkin, Cambridge University Press, 2010.

- Autonomous Robots, George A. Bekey, MIT Press, 2005.