Course Details

Course Information

Semester	Course Unit Code	Course Unit Title	T+P+L	Credit	Number of ECTS Credits	Last Updated Date
1	ECE504	AUTONOMOUS MOBILE ROBOTS	3+0+0	3	7,5	14.05.2025

Course Details

Language of Instruction	English
Level of Course Unit	Doctorate's Degree
Department / Program	ELECTRICAL AND COMPUTER ENGINEERING
Type of Program	Formal Education
Type of Course Unit	Elective
Course Delivery Method	Face To Face
Objectives of the Course	The main goals of the course are: Demonstrating work mechanisms of various ground and aerial autonomous mobile robots; Providing fundamental background on mobile robot estimation, planning, and control algorithms; Presenting applications on simulation environments for mobile robots such as Robot Operating System (ROS).
Course Content	The course will cover the theoretical and practical essentials of ground and aerial autonomous mobile robots. Topics include mobile robot motion modeling, kinematics and dynamics; navigation, perception, and execution algorithms for mobile robots; estimation frameworks such as Bayesian filtering methods (Kalman, EKF, particle, etc.) and their applications; localization; mapping; and path planning. The course will start with a quick review of linear algebra and probability. Special emphasis will be given to implementation of the algorithms on mobile robots in realistic simulation environments.
Course Methods and Techniques	3 course projects (45%) 5 homework (%25) 1 final project (%30)
Prerequisites and co-requisities	None
Course Coordinator	Associate Prof.Dr. Samet Güler
Name of Lecturers	None
Assistants	None
Work Placement(s)	No

Recommended or Required Reading

Resources

Roland Siegwart, Illah Reza Nourbakhsh and Davide Scaramuzza, "Introduction to Autonomous Mobile Robots", second edition, 2011

Course Category

Mathematics and Basic Sciences	%10
Engineering	%90
Engineering Design	%0
Social Sciences	%0
Education	%0
Science	%0
Health	%0
Field	%0

Planned Learning Activities and Teaching Methods

Activities are given in detail in the section of "Assessment Methods and Criteria" and "Workload Calculation"

Assessment Methods and Criteria

ECTS Allocated Based on Student Workload

Activities	Quantity	Duration	Total Work Load
Ev Ödevi	5	7	35
Proje	4	15	60
Okuma	5	3	15
Araştırma	12	3	36
Takım/Grup Çalışması	10	4	40
Yüz Yüze Ders	14	3	42
Total Work Load			Number of ECTS Credits 7,5 228

Course Learning Outcomes: Upon the successful completion of this course, students will be able to:

No	Learning Outcomes
1	Analyze several path planning, control, and estimation techniques designed for autonomous mobile robots in unknown environments;
2	Formulate a real-world problem for a mobile robot in terms of control, estimation, and navigation sub-tasks;
3	Evaluate quantitatively the performance of estimation, control, and planning algorithm designs for mobile robots;
4	Design and implement integrated navigation and perception algorithms on a set of mobile robots in realistic simulation environments such as Gazebo.

Weekly Detailed Course Contents

Week	Topics	Study Materials	Materials
1	review of linear algebra and probability
2	mobile robot motion modeling
3	Mobile robot kinematics and dynamics
4	Mobile robot kinematics and dynamics
5	navigation, perception, and execution algorithms for mobile robots
6	navigation, perception, and execution algorithms for mobile robots
7	navigation, perception, and execution algorithms for mobile robots
8	Introduction to simulation environments and ROS
9	estimation frameworks such as Bayesian filtering methods (Kalman, EKF, particle, etc.) and their applications
10	Mobile robot localization and mapping
11	Mobile robot localization and mapping
12	Mobile robot path planning algorithms
13	Mobile manipulators
14	Review and wrap up

Contribution of Learning Outcomes to Programme Outcomes

Contribution: 1: Very Slight 2:Slight 3:Moderate 4:Significant 5:Very Significant

https://sis.agu.edu.tr/oibs/bologna/progCourseDetails.aspx?curCourse=77851&lang=en