COG/CSC 338 - 3 Semester Hours

Robotics and Intelligent Agents

An examination of the theoretical and practical aspects of robot control and autonomous behavior. Elements of the design, implementation, and analysis of hardware and software agents will be explored. Requisite studies will include the construction of simple circuits, as well as the programming of more elaborate robots and assembly of robot kits. Written analyses of readings taken from various problem domains within robotics, intelligent agency, and other areas of AI will also be required.

CSC 241.

The course will provide students with an understanding of the pragmatics of intelligent behavior. Technical components will be of practical import to those interested in pursuing study in robotics and related fields. The study of behavioral and reactive methodologies could form an important component of a cognitive science, information science, or a related curriculum.

The course will be submitted for approval to fulfill the Intellectual Issues - Explorations in the Natural Sciences component of the General Education program requirements.

The course will provide Cognitive Science students with an attractive option for their required learning agreement.

Software Engineering Curriculum Justification: This course provides in-depth content-oriented coverage of software design, construction, analysis, tools, and project management.

Upon successful completion of this course, students will be able to:

1. demonstrate a fundamental understanding of the elements of robotic behavior and control.
2. demonstrate a fundamental understanding of intelligent and autonomous behavior.
3. correlate biological and robotic behaviors and their mechanisms.
4. analyze software and hardware components involved in robot design.
5. describe different locomotion, sensing, and control mechanisms.
6. program predetermined as well as reactive robotic behaviors.
7. evaluate robotic solutions within proposed problem domains.

1. Overview of Robotics
   1. Kinds of Robots
      1. Fixed Machines
      2. Roving Machines
         1. Tele-operation
         2. VR
         3. Autonomous
      3. Autonomous Mechanisms
      4. Anthropomorphic Design
      5. Intelligent Behavior

   2. Robotic Paradigms
      1. Cybernetics and Robotic Methodologies
      2. Metrics for the paradigms
      3. Common Paradigms
         1. Hierarchical
         2. Reactive
         3. Hybrid
      4. Alternative Paradigms

   3. Robotic Architectures
      1. Metrics for the architectures
      2. Common Architectures
      3. Alternative Architectures

   4. Problem Domains
      1. Goal-Directed Environment
      2. Unknown Space
      3. Known Space
      4. Evolutionary Robotics
      5. Other Domains

   5. Hardware
      1. Elemental Components
      2. Drivetrain
      3. Control
      4. Sensing Elements
      5. Output
      6. Power
      7. Interfaces

   6. Programming

2. Control Structure
   1. Paradigms
   2. Architectures

3. Knowledge Representation

4. Programming

5. Hardware
   1. Drivetrain
   2. Sensors
   3. Output Devices
   4. Control Mechanisms

6. Robot Kinematics

7. Situated Agents

8. Multi-Agents

9. Autonomous Vehicles

10. Navigation
    1. Path Planning
    2. Map Making

11. Biological Origins of Robotics

12. Evolutionary Robotics

1. Lectures and demonstrations
2. Readings
3. Laboratory assignments
4. In-class discussion
5. Student demonstrations of assigned projects
6. Student presentations of researched material

To successful complete this course, a student must

1. attend class.
2. complete assigned readings.
3. perform adequately on exams and quizzes.
4. successfully construct and demonstrate robot hardware and software.
5. participate in in-class discussion.
6. complete well-structured, well-reasoned in-class presentations.

1. Examinations
2. Construction and programming of hardware and software robots
3. Written papers
4. Classroom demonstrations of completed projects
5. Classroom presentations of researched material

1. Access to x86-based Unix^TM and Windows® machines set-up so as to allow student access to hardware ports.
2. A significant number of robot construction kits so a to provide a student/kit ratio of not more than four to one.
3. Access to lab facilities to allow some amount of prototyping of circuits.

R. Arkin. Behavior-Based Robotics: Intelligent Robotics and Autonomous Agents. MIT Press, Cambridge, 1998.

T. Baeck, et al, editors. Evolutionary Computation 1: Basic Algorithms and Operators. Institute of Physics Publications, 2000.

T. Baeck, et al, editors. Evolutionary Computation 2: Advanced Algorithms and Operators. Institute of Physics Publications, 2000.

B. Bagnall. Core Lego Mindstorms Programming: Unleash the Power of the Java Platform. Prentice Hall New York, 2002.

C. Bergren. Anatomy of a Robot. McGraw-Hill/TAB Electronics, New York, 2003.

V. Braitenberg. Vehicles: Experiments in Synthetic Psychology. MIT Press; reprint edition. Cambridge, 1986.

R. Brooks. Cambrian Intelligence: The Early History of the New AI. MIT Press, Cambridge, 1999.

D. Clark and M. Owings. Building Robot Drive Trains. McGraw-Hill, New York, 2002.

C. Harris, M. Brown, and C. G. Moore. Intelligent Control: Aspects of Fuzzy Logic and Neural Nets, (World Scientific Series in Robotics and Automated Systems, Vol 6.) World Scientific Pub Co, 1993.

D. Hrynkiw and M. Tilden. Junkbots, Bugbots & Bots on Wheels McGraw-Hill Osborne Media, New York, 2002.

G. Ferrari, et al, editors. Programming Lego Mindstorms with Java. Syngress. New York, 2002.

G. McComb. Constructing Robot Bases. McGraw-Hill, New York, 2003.

G. McComb. The Robot Builder's Bonanza. McGraw-Hill, New York, 2001.

G. McComb. Robot Builder's Sourcebook. McGraw-Hill/TAB Electonics, New York, 2002.

M. Michell. An Introduction to Genetic Algorithms (Complex Adaptive Systems. MIT Press, Cambridge. Reprint edition 1998.

H.P. Moravec. Mind Children: The Future of Robot and Human Intelligence. Harvard University Press, Cambridge, Reproduction edition March 1990.

R. Murphy. Introduction to AI Robotics. MIT Press, Cambridge, 2000.

S. Nolfi and Dario Floreano. Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines (Intelligent Robotics and Autonomous Agents). MIT Press, Cambridge, 2000.

M. Predko. Programming Robot Controllers. McGraw-Hill, New York, 2003.

P. Scherz. Practical Electronics for Inventors. McGraw-Hill, New York, 2000.

P.H. Winston. Artificial Intelligence, 3rd edition. Addison-Wesley, 1992.

M. Wooldridge and N. Jennings. ``Intelligent Agents: Theory and Practice'', Knowledge Engineering Review, Vol. 10, No. 2, June 1995.