Overview of mobile robots, configuration and types of mobile robots, development in mobile robots and its applications; Kinematics of robot locomotion and motion modeling (including velocity-based and odometry-based models), introduction to mobile robot sensors and their modeling; Challenges in localization, position estimation, map representation, state estimation techniques using parametric and non-parametric filters, study of different techniques for localization, mapping techniques including feature/grid-based and SLAM; Configuration/workspaces, obstacle avoidance, study of different path planning algorithms, exploration and roadmaps, probabilistic methods.

Suggested Text:

  1. Introduction to Mobile Robots by Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D.
  2. Principles of Robot Motion: Theory, Algorithms, and Implementations (Intelligent Robotics and Autonomous Agents) by Choset, H., Lynch, K. M., Hutchinson, et al.
  3. Probabilistic Robotics by Sebastian Thrun, Wolfram Burgard, Dieter Fox
  4. Recent Advances in Mobile Robotics by Andon Venelinov Topalov
  5. Mobile Robotics: Mathematics, Models, and Methods by Alonzo Kelly