ACIT4820 Applied Robotics and Autonomous Systems Emneplan

This course provides a hands-on introduction to the common theories and methods used in the design of robotic and autonomous systems. The course is organized around weekly practical labs and lectures that complement each other. The student will get hands-on experience with the technologies, algorithms, and architecture of robotic and autonomous systems, with a focus on the Robot Operating System 2 (ROS 2).

Language of Instruction: English

• A solid understanding of linear algebra, vector calculus, and trigonometry.
• Programming experience in Python.
• A basic understanding of control systems or dynamical systems.

No formal requirements beyond the general admission requirements.

The student should have the following outcomes upon completing the course:

Knowledge

Upon successful completion of the course, the student should have:

• advanced knowledge of robotic and autonomous systems components and architecture.

• advanced knowledge in modeling kinematics, dynamics, and physical structures (URDF) of robotic systems.
• advanced knowledge in common sensor and actuator technologies used in robotics.
• advanced knowledge of algorithms and methods used in state estimation, navigation, SLAM, and motion planning.
• a good understanding of the Robot Operating System 2 (ROS 2) ecosystem and software architectures used in robotic and autonomous systems.

Skills

Upon successful completion of the course, the student can:

• analyze robotic and autonomous systems in terms of their components, architecture, and purpose.
• model and analyze the kinematics and dynamics of robotic systems.
• apply a number of algorithms and methods in state estimation, navigation, and motion planning.
• analyze, simulate, and implement solutions based on ROS 2 and physics simulators.

General competence

Upon successful completion of the course, the student can:

• discuss the role of robotic and autonomous systems in a number of practical applications.
• analyze how robotic and autonomous systems operate and design specific components using ROS 2 and other software tools.

Theory:

• Configuration Space
• Rigid-Body Motions
• Forward & Inverse Kinematics
• Motion Planning

Application:

• Wheeled Mobile Robots
• Sensors & Actuators
• Navigation
• ROS 2

The course is taught as a series of weekly lab sessions. During these sessions, students will work on their assignments in groups of three, with the instructor providing guidance and support. Each session will also include short, focused presentations on the theoretical concepts and practical skills needed to complete the current stage of the project. This hands-on, "learn-by-doing" approach is designed to provide students with practical experience and a deep understanding of the course material. The student will supplement the lectures and lab with their own reading and complete a final individual project.

The following coursework must be approved before the student is eligible to take the exam:

• Four assignments, completed in groups of 1-3 students (1000 - 2000 words per assignment)

Exam in two parts:

1. Individual Project Report (80% of final grade), 4000-6000 words

2. Individual Project Presentation (20% of final grade), 10-minutes. Presentations will be open to the public.

Both parts of the exams must be passed in order to pass the course.

The written part of the exam can be appealed. The individual presentation examination cannot be appealed.

New/Postponed Exam: In the event of a failed exam or a documented absence due to a legal reason, the student may apply for a new or postponed exam. New or postponed exams are offered within a reasonable time span following the regular exam. The student is responsible for registering for a new/postponed exam within the time limits set by OsloMet. The Regulations for new or postponed examinations are available in "Regulations relating to studies and examinations at OsloMet."

All aids are permitted, provided the rules for plagiarism and source referencing are complied with.

Grade scale A-F.

Two internal examiners. External examiner is used periodically.

Pierre Boniface