Minor Programme

IN

ROBOTICS AND AUTOMATION

*****************

Jointly Offered by

Department of Electrical Engineering

Department of Electronics and Communication Engineering

Department of Mechanical Engineering

(Applicable from 2023 Admission onwards)

NATIONAL INSTITUTE OF TECHNOLOGY CALICUT

Kozhikode - 673601, KERALA, INDIA
About the Programme

The minor programme in Robotics and automation jointly offered by the Department of
Electrical Engineering, Department of Electronics and Communication Engineering and
Department of Mechanical Engineering is designed to provide students with a comprehensive
understanding of the fundamental principles of robotics and their applications. This program is a
valuable opportunity for students to gain knowledge in a field that is becoming increasingly
important in many industries, including manufacturing, healthcare, and transportation.

The program covers a range of topics which includes Robot kinematics, dynamics, trajectory
planning, Design of Electronics for robotic systems, Control algorithm design and implementation,
computer vision, mechatronics and industrial automation, mobile robots, multi-robot systems and
autonomous intelligent systems.

Graduates of this minor program have a wide range of potential employment opportunities. Many
industries, including manufacturing, logistics, and healthcare, rely on robotics to perform tasks
that are repetitive, dangerous, or require high precision. Graduates can also pursue higher studies
in robotics or related fields. The minor program in Robotics and automation can provide a valuable
opportunity for students to gain knowledge and skills in a field that is rapidly expanding and offers
significant potential for employment and further study.

Name of the Coordinators for the Programme

1. Dr. Sudheer A.P. (MED)

2. Dr. Raghu CV (ECED)
3. Dr. Rakesh R Warier (EED)

Number of seats expected for the Programme: 40

BASKET OF COURSES #

Additional Categories*
Sl. Course
Course Title L T P O Credits
No. Code
EI DA HM

INTRODUCTION TO
1. ME3426E 3 0 0 6 3 N Y N
ROBOTICS
CONTROL AND VISUAL
2. EE3055E SERVOING OF 3 0 0 6 3 N Y N
ROBOTIC SYSTEMS

EC3035E DESIGN WITH OP-AMPS

3. 3 0 0 6 3 N N N
AND ANALOG ICS

MECHATRONICS AND
4. ME3332E 3 0 0 6 3 N Y N
AUTOMATION
EMBEDDED SYSTEMS
5. EC3026E 2 0 2 5 3 N N N

INDUSTRIAL
6. EE3056E AUTOMATION AND 3 0 0 6 3 N Y N
CONTROL
MULTI ROBOT
7 EE4040E 3 0 0 6 3 N N N
SYSTEMS

8. ME4423E MOBILE ROBOTICS 3 0 0 6 3 N Y N

INTRODUCTION TO
AUTONOMOUS
EC3052E
9. INTELLIGENT 2 0 2 5 3 N N N
SYSTEMS

# 4 courses from this basket are to be credited by the students as per the recommendations by the
coordinators. In addition, students must credit two of their open electives in consultation with the
coordinators.

*Indicate Y / N whether this course can be offered as EI/DA/HM elective for the UG (Major)
Programmes offered
DETAILED SYLLABI OF COURSES
 ME3426E INTRODUCTION TO ROBOTICS

Pre-requisites: Knowledge of Engineering Mechanics

L T P O C
3 0 0 6 3
Total Lecture Sessions: 39

Course Outcomes:
CO1: Explain the subsystems, types, applications and history of robots.
CO2: Model robots kinematically using geometrical and analytical methods.
CO3: Model robots statically and dynamically.
CO4: Describe trajectory planning, robot programming and controller.

Introduction to Robotics: Introduction to robotics: brief history, types and applications of robots, present status and future
trends in robotics, overview of robot subsystems challenges in robotics, characteristics of robots, robot applications, robot
configurations and concept of work space, types of actuators and sensors in robotics, types of grippers; wheeled, legged and
tracked robots

Robot Kinematics and Statics: Introduction to manipulator kinematics: position and orientation of rigid bodies, planar and
spatial mechanism description, homogenous transformations, Denavit-Hartenberg (DH) notation, forward and inverse
kinematic analysis, examples, case studies of modeling on real robot mechanism; linear and rotational velocity of rigid bodies:
velocity propagation from link to link, jacobian, singularities; static forces in manipulators: jacobians in force domain.

Robot Dynamics, Trajectory Planning and Programming: Dynamic modeling: Lagrangian formulation, examples,
trajectory generation: general consideration in path description and generation, joint space schemes, collision free path
planning; robot control; overview of robot motion planning; robot programming methods.

References:

1. Craig, J. J., 1999, Introduction to Robotics, Mechanics and control, Addison-Wesley.

2. Mittal, R. K., and Nagarath, I. J., 2003, Robotics and Control. Tata McGraw Hill.
3. Niku, S. B., 2011, Introduction to Robotics, Analysis, Systems and applications, Prentice Hall India.
4. Spong, M. W., and Vidyasagar, M., 1989, Robot Dynamics and Control. John Wiley & Sons.
5. Fu, K. S., Gonzales, R. C., and Lee, C. S. G., 1987, Robotics Control, Sensing, Vision and Intelligence, McGraw
Hill.
6. Mikell P. Groover, Mitchell Weiss, Roger N Nagel, Nicholas G Odrey, 1986, Industrial Robotics: technology,
programming, and applications., 1996, Fundamentals of Robotics, Analysis and Control. Prentice Hall of India.
 EE 3055E CONTROL AND VISUAL SERVOING OF ROBOTIC SYSTEMS

Pre-requisites: Introduction to Robotics

L T P O C
3 0 0 6 3
Total Lecture Sessions: 39

Course Outcomes:

CO1: Design and analyze controllers for robotic systems

CO2: Explain different methods for image processing and enhancement
CO4: Apply computer vision or object detection and visual servoing for robotic applications
CO4: Develop motion planning strategies using various algorithms.

Control of Robotics: Introduction to robot modelling – Dynamical systems - Equilibrium points - Linearization -
classification of equilibrium points - stability of equilibrium points – linear system stability - nested control loops –Review
of robot kinematics and dynamics - PID Control design - Manipulator Control: Independent joint control- Feed-forward
control-Inverse dynamics control-Robot controller architectures. Implementation problems.

Notions of stability - Lyapunov stability - local stability - local linearization and stability in the small- Direct method of
Lyapunov - generation of Lyapunov function for linear and nonlinear systems – variable gradient method - region of attraction
- Invariance theorems - Lyapunov based nonlinear control design – Backstepping – Feedback linearization - Controller design
- simulation practice.

Computer Vision for Robotics: Digital Image Fundamentals: Human visual system and visual perception - Image sensing
and acquisition Image file types - Pixel representation and spatial relationship - Image Enhancement and Restoration- Mean
and median filtering; Concepts of least square and Wiener filtering - Edge detection and feature extraction.

Deep Learning for Computer Vision - Review of Deep Learning, Multi-layer Perceptron, Backpropagation, Convolutional
Neural Networks (CNN) for image classification - Recurrent Neural Networks - Object detection algorithms (e.g., YOLO,
Faster R-CNN) - Image segmentation using deep learning - 3D vision and depth estimation- control strategies for robots based
on visual feedback -Motion Estimation: Optical flow estimation, Structure from motion, Visual odometry - Visual Servoing:
Image-based visual servoing (IBVS), Position-based visual servoing (PBVS) – case studies on applications of visual servoing
for robotics.

Motion planning and Applications: Overview of robot motion problems - Configuration space of a robot - Example
configuration spaces - Classical motion planning paradigm : the roadmap, potential field method, cellular decomposition
approach, Graph search and Discrete planning Algorithms - Dijsktra's algorithm - A*, RRT and variations - Sensor based
motion planning : Class of Bug algorithms.

References:

1. John J. Craig, Introduction to Robotics, Mechanics and Control, Addison – Wesley, 3rd ed., 2018.
2. Sciavicco, L., B. Siciliano, Modelling & Control of Robot Manipulators, Springer Verlag, 2nd Edition 2000
3. Mark W. Spong, and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, 2008
4. Rafael C. Gonzalez and Richard E. Woods, Digital Image Processing, Pearson, 4th Ed, 2017
 5. Ian Goodfellow, Yoshua Bengio, Aaron Courville, Deep Learning, The MIT Press, 2016
6. LaValle, Steven M. Planning algorithms. Cambridge university press, 2006.
7. Choset, Howie, et al. Principles of robot motion: theory, algorithms, and implementations. MIT press, 2005.
8. Gerald Cook, “Mobile Robots: Navigation, Control and Remote Sensing”, Wiley, IEEE Press, 2012
9. Schilling. R. J., Fundamentals of robotics: Analysis and control, Prentice Hall, New Jersey, 1990
10. Behera, L., Kumar, S., Patchaikani, P.K., Nair, R.R., & Dutta, S, Intelligent Control of Robotic Systems, Taylor &
Francis Pub., CRC Press, 2020
 EC3035E DESIGN WITH OP-AMPS AND ANALOG ICS

Pre-requisites: A first level course in Analog Circuits

L T P O C
3 0 0 6 3

Total Lecture Sessions: 39

Course Outcomes:

CO1: Analyze op-amp based analog and mixed signal circuits.

CO2: Design analog filters and realize them using operational amplifier based simple filter circuits.
CO3: Design circuits and systems using operational amplifiers and analog integrated circuits.

Op-Amp Circuits: Various stages of an operational amplifier - typical op-amp parameters: slew rate, CMRR, PSRR, open
loop gain, unity gain bandwidth, offset current & offset voltage, Effect of practical op-amp parameters on the performance of
op-amp linear circuits - voltage to current converter, current to voltage converter - nonlinear op-amp circuits: rectifiers,
clippers, clampers, comparators, astable and mono-stable circuits, triangular waveform generator, linear sweep circuits,
oscillators, log and antilog amplifiers, multipliers and dividers

Analog Filter Design: Approximations to ideal low pass filter characteristics - normalized pole locations of Butterworth
approximation, filter specifications, estimation of filter order from specifications, normalized filter transfer functions for
cascaded realization, de-normalization, design of cascaded section -frequency transformations to obtain HPF, BPF and BEF
from normalized prototype LPF
Active Filters: Review of filter characteristics, shortcomings of RC filters for higher order filters, active filter design, design
of first order filter from the locations of pole and zero, second order Sallen key LPF and HPF, BPF and BEF realizations,
universal active filter - all pass filter (first & second orders) realizations - inductance simulation using Antoniou’s gyrator –
Switched capacitor filter
DACs and ADCs: Digital to analog converters - binary weighted - R-2R ladder - current steering - charge scaling, - accuracy
- resolution - conversion speed - offset and gain error-Analog to digital converters –flash, staircase, successive approximation
and dual slope ADCs
Voltage Regulators: Linear voltage regulators, series and shunt configurations, Low dropout regulators (LDOs), DC-DC
converters, Buck, Boost converters, Selection of components in the power stage and control stage, Voltage Regulator ICs

References:

1. Sergio Franco, Design with Operational Amplifiers and Analog Integrated Circuits, McGraw Hill Education; 3rd
edition, 2017
2. S. Sedra, K C Smith, Microelectronic Circuits, 7th Edn., Oxford University Press. 2017.
3. D. A. Neamen, Electronic Circuit Analysis and Design, 3rd Edn., McGraw-Hill India, 2006.
4. Schaumann, Rolf, Haiqiao Xiao, and Van Valkenburg Mac. Design of analog filters Indian Edition 2/e. Oxford
University Press., 2013.
5. R. J. Baker, CMOS Circuit Design, Layout and Simulation, Wiley India Pvt Ltd, 2009
 ME3332E MECHATRONICS AND AUTOMATION

Pre-requisites: NIL
L T P O C

3 0 0 6 3
Total hours: 39

Course Outcomes:

CO1: Explain various key elements or subsystems in mechatronics

CO2: Select sensors, actuators and data acquisition systems for a given mechatronics system
CO2: Analyze the signals, system and controllers and develop PLC programming for automated systems
CO4: Illustrate the existing drive systems and design low cost automation technologies using fluid power components.
CO5: Explain various elements, levels and strategies of automation

Introduction to mechatronics:
Introduction to Mechatronics System: key elements in mechatronics, advanced approaches in mechatronics, real time
interfacing; elements of data acquisition system; actuators and sensors: fluid power and electrical actuators, piezoelectric
actuator; sensors for position, motion, force, strain and temperature, flow sensors, fibre optic sensors-, magnetostrictive
transducer, selection of sensors, microsensors in mechatronics.

Introduction to signals, system and controls

System representation, linearization, time delays, measures of system performance; closed loop controllers: PID
controller, adaptive control; introduction to microprocessors, micro-controllers and programmable logic controllers:
components, PLC programming; sensors for condition monitoring; mechatronics control in automated manufacturing.

Industrial automation and fluid power control:

Introduction to automation: types, architecture of industrial automation systems; manufacturing plants and operations;
automation strategies; levels of automation for industries; Drives and mechanisms of an automated system: drives:
stepper motors, servo drives. balls screws, linear motion bearings, cams, systems controlled by camshafts, electronic
cams, indexing mechanisms, tool magazines, and transfer systems. Hydraulic and Pneumatic system hydraulic systems:
flow, pressure and direction control valves, actuators, and supporting elements, hydraulic power packs, and pumps.
design of hydraulic circuits; pneumatics: system components and graphic representations, design of pneumatic circuits

References
1. Devadas Shetty, Richard A Kolk, 2001, Mechatronics System Design, 2nd ed., Thomson Learning.
2. Groover, Mikell. P, 2016, Automation, Production systems and Computer integrated manufacturing, 4 th ed.,
Pearson education India.
3. BOLTON, W, Mechatronics, 2004, Pearson education Asia .
4. HMT Ltd, Mechatronics, 1998, Tata McGraw Hill.
5. B.P. Singh, Microprocessors and Microcontrollers,1997, Galgotia Pub F.
6. Frank D.Petruzella, Programmable Logic Controllers, 2010, Tata McGraw Hill.
7. Blackburn, J. F., G. Reethof, and J. L. Shearer,1980, Fluid Power Control, New York: Technology Press of M.
 I. T. and Wiley.
8. Anthony Esposito, “Fluid Power with applications”, 2003, Pearson Education.
9. Boucher, T. O., Computer automation in manufacturing - an Introduction, 1996, Chapman and Hall.
 EC3026E EMBEDDED SYSTEMS

Pre-requisites: A first level course in Computer Architecture and Processors

L T P O C
2 0 2 5 3

Total Sessions: 26L + 26P

Course Outcomes:
CO1: Model embedded systems with appropriate hardware and software components
CO2: Analyze, program and use a typical ARM processor and its peripherals
CO3: Design and implement embedded systems using ARM Cortex based processors

Introduction to Embedded Systems: Application domain, General Structure, Modular approach of design, figures of merit,
classification, desirable features and history. CISC, RISC, Harvard, Von-Neumann Architectures. General aspects of
Embedded System hardware, Basics of embedded system design using microcontrollers, -clock, Reset types, Timers, Stacks,
Interrupts, DMA, Communication protocols etc. Memory: SRAM, DRAM and Flash. Pullup, Pulldown and High Z
connections, Introduction to sensors and actuators, Fundamentals of physical interfacing, Interfacing sensors and actuators
with micro-controllers, Analog to Digital Converters, Digital to Analog Converters, Design examples of simple embedded
systems, Software Development Tools: IDE, Compilers, Simulators

Buses and protocols: Bus Arbitration, On Board Buses- I2C and SPI, Off Board buses –USB, CAN, AMBA, Ethernet, Wi-
Fi, Zigbee and Bluetooth. Basics of power supplies: Linear regulators, switching regulators, Battery operated devices, Design
consideration of power supply for embedded systems.

Microprocessors: The ARM Processor: History and architecture, ARM Assembly language-ARM Cortex processor –
Register architecture, Instruction set, clock sources and distribution, GPIO, timer/counter, watchdog timer, Stack, Interrupts,
DMA and other peripherals. Programming and Design examples of embedded system using ARM Cortex based processors.

Introduction to applications of Embedded Systems in the modern era – IoT, Edge computing, Electric vehicles, Health care,
Cyber physical systems etc.

Practical Sessions: Design and implementation of Embedded systems using ARM Cortex based processors – Interfacing of
input devices like switch, LDR, IR sensor, Ultrasound sensors and output devices like LED, Relay, Motor etc. ADC
interfacing, Waveform generation, Timer programming, Interrupts

References:

1. Lyla B.Das., Embedded Systems-an integrated approach ,Pearson Education ,2013

2. John Catsoulis, Designing Embedded Hardware, 2nd edition. Shroff Publishers and Distributors. ISBN-10:
9788184042597
3. Wayne Wolfe, Computers as Components, 2nd Edition, Morgan Kaufmann,2011
4. Ganssle J, Noergaard T, Eady F, Edwards L, Katz DJ, Gentile R, Arnold K, Hyder K, Perrin B. Embedded
Hardware: Know It All, Newnes, Elseiver Publications, 200.
5. Jonathan W Valvano, Embedded systems: Introduction to ARM Cortex-m microcontrollers, Fifth edition, 6th
printing- January 2019, ISBN: 978-1477508992.
 EE 3056E INDUSTRIAL AUTOMATION AND CONTROL

Pre-requisites: NIL

L T P O C
3 0 0 6 3
Total hours: 39

Course Outcomes:
CO1: Model industrial processes from physical laws
CO2: Analyze various feedback and feed forward control strategies and design the control system based on
frequency response analysis.
CO3: Design controller and instrumentation architectures for process plants
CO4: Develop advanced control strategies – Model predictive control, Adaptive control, Inferential Control and
Batch process control.

Process Modelling: Introduction to automation: definition, types, merits and criticism - automation strategies - basic
elements of automated system; advanced automation functions; levels of automation, case studies on selection of
strategies and levels of automation for industries - Modelling of pneumatic, hydraulic, thermal, chemical systems -
Time series models – Discrete-time modelling - Development of empirical models from process data - Architecture of
Industrial Automation Systems - chemical reactor modelling -. Analysis using simulation software

Signal Conditioning, Sensors, and Actuators: Measurement Systems Specifications – Temperature, Pressure and
Force Measurement Sensors - Signal Conditioning Circuits : Instrumentation amplifier, Wheatstone bridge etc, -
Amplifiers and Filters – DAC and ADC.

Electrical Machine Drives - Step Motors: Principles, Construction and Drives - Electrical Actuators: DC Motor Drives,
Induction Motor Drives, BLDC Motor Drives.

Advanced Control and Automation: Review of Classical control and PID tuning- Advanced process control - Multi-
loop and multivariable control - Process Interactions - tuning of multi loop PID control systems- decoupling control-
strategies for reducing control loop interactions – Control design in the discrete domain - Simulation using software

Optimal control – LQR – Adaptive control - Model predictive control - Batch Process control - Plant-wide control &
monitoring - Plant wide control design - PLC and ladder logic – Introduction to IOT and IIOT - simulation practice.

References:

1. Seborg, D.E., T.F. Edgar, and D.A. Mellichamp, ‘Process Dynamics and Control’, John Wiley, 2004
2. Groover, Mikell. P: Automation, Production systems and Computer integrated manufacturing, 4 th ed., Pearson
education India, 2016.
3. Johnson D Curtis, ‘Instrumentation Technology’, 7th Edition, Prentice Hall India, 2002.
4. Bob Connel, Process Instrumentation Applications Manual, McGrawHill, 1996.
5. Edgar, T.F. & D.M. Himmelblau, ‘Optimization of Chemical Processes’, McGrawHill Book Co, 1988.
6. Nisenfeld A.E ,(Ed), ‘Batch Control: practical guides for measurement and control, Instrument Society of
America, 1996.
7. Sherman, R.E. (Ed), ‘Analytical instrumentation’, Instrument Society of America, 1996.
8. Shinskey, F.G., Process Conrol Systems: Applications, Design and Tuning ,3rd Edition, McGrawHill Book Co,
1988.
 9. B. Wayne Bequette, ‘Process control: modeling, design, and simulation’, Prentice Hall PTR, 2003 10. K.
Krishnaswamy, ‘Process Control’, New Age International, 2007
10. M.Gopal, Digital control and State Variable methods, 4th ed, Tata McGraw Hill, 2017
11. Benjamin C Kuo, Digital Control Systems, 2n edition, Oxford University Press, 1995.
 EE4040E MULTI-ROBOT SYSTEMS

Pre-requisites: Basics of Robotics

L T P O C

3 0 0 6 3
Total sessions: 39

Course Outcomes:
CO1: Integrate the basic concepts to formulate networked control problems
CO2: Employ various decentralized control strategies for networked control systems
CO3: Develop various control strategies for multi-agent robotics
CO4: Develop models and strategies for mobile sensor and communication networks

Basic concepts in coordinated control: Review of Robot Kinematics, Dynamics and Control – Introduction to multi-agent
systems, multi-agent coordination strategies (specifically for autonomous vehicle): Leader-follower, potential field theory,
behavioral based approaches, virtual leader - algebraic graph theory, behavioral based method - From biological swarms to
graph-based models - Rendezvous: A canonical problem - Basics of Graph Theory - Connected Graph - Incidence Matrix –
Tree - cutset - loop/cycles - Minimum Spanning Tree - Network Models - graphs, random graphs, random geometric graphs,
state-dependent graphs - Networked control systems -Proximity graphs - Algebraic and spectral graph theory - Connectivity:
Cheeger's inequality - switching networks

Decentralized Control: The agreement protocol: static case- Reaching decentralized agreements- Consensus equation: Static
case- Leader networks and distributed estimation- Discrete time consensus. The agreement protocol: dynamic case: Switched
networks- Lyapunov-based stability- Consensus equation: Dynamic Case - Biological models: Flocking and swarming -
Alignment and Kuramoto's coupled oscillators – Cucker-Smale model.- Distributed estimation - Computational,
communications, and controls resources in networked control systems-Distributed control- Convex Optimization -
Optimization-based control design.

Multi Agent Robotics: Formations - Graph rigidity -Persistence -Formation control, sensor and actuation models-distance
based formations, rigidity, position based formations, formation infeasibility -Consensus problem- static, dynamic, distributed
estimation, leader-follower architectures for consensus-Reaching decentralized agreements through cooperative control-
leader-follower networks-Network controllability- Network feedback- Nonholonomic, double integrator, rigid body
dynamics- Formation of rigid bodies - Collision avoidance: potential fields, navigation functions. Introduction to
reinforcement learning for multi-agent robotics.

Mobile sensor and communication networks: Sensor networks: Coverage control - Coverage and detection problems -
Gabriel and Voronoi graphs- voronoi-based cooperation strategies - LANdroids: Communication networks Communication
models - mobile communications networks- connectivity, connectivity maintenance, sampling, delays, packet losses,
quantization, security - Swarming-sensor networks: sensing constraints, aggregation, dispersion, coverage control,
deployment, flocking - Internet of robots (IOR) – secure communication among multiple robots

References:

1. Mehran Mesbahi and Magnus Egerstedt, ‘Graph Theoretic Methods in Multiagent Networks,’ Princeton University
Press, 2010.
2. F. Bullo, J. Cortes, and S. Martinez, ‘Distributed Control of Robotic Networks’, Princeton, 2009.
3. C. Godsil and G. Royle, ‘Algebraic Graph Theory’, Springer, 2001.
4. Wei Ren, Randal W. Beard, ‘Distributed Consensus in Multi-vehicle Cooperative Control’, Communications and
Control Engineering Series, Springer-Verlag, London, 2008
5. Bullo, Francesco. Lectures on network systems. Vol. 1. Kindle Direct Publishing, 2020.
6. P. J. Antsaklis and P. Tabuada,, ‘Networked Embedded Sensing and Control’, Springer 2006.
7. Strogatz S. ‘Sync: The emerging science of spontaneous order’, Hyperion Books, 2004
8. Alberto Bemporad, Maurice Heemels, and Mikael Vejdemo-Johansson. Networked Control Systems. Lecture Notes in
Control and Information Sciences, Vol. 406, Springer-Verlag London
 ME4423E MOBILE ROBOTICS

Prerequisites: NIL
L T P O C
3 0 0 6 3
Total Lecture Sessions: 39

Course Outcomes:
CO1: Describe various types of mobile robots
CO2: Model mobile robots kinematically and dynamically
CO3: Implement navigation, and path planning
CO4: Explain basics of feedback control and apply active feedback for vibration control

Introduction to Mobile Robotics: Introduction to mobile robots and mobile manipulators; principle of locomotion
and types of locomotion; types of mobile robots: ground robots (wheeled and legged robots), aerial robots, underwater
robots and water surface robots, healthcare robotics; introduction to modern mobile robots: Swarm robots,
cooperative and collaborative robots, mobile manipulators, autonomous mobile robots.

Kinematics and Dynamics of Mobile Robots:Kinematics of wheeled mobile robot: degree of freedom and
maneuverability, generalized wheel model, different wheel configurations, holonomic and non-holonomic
robots.Dynamics of mobile robot: Lagrange-Euler and Newton-Euler methods; Computer based dynamic (numerical)
simulation of different wheeled mobile robots.

Mobile Robot Motion Planning, Control and Sensors for Mobile Robot Navigation:Robot navigation:
localization, error propagation model, probabilistic map-based localization, autonomous map building, simultaneous
localization and mapping (SLAM); Motion and path planning: collision free path planning and sensor-based obstacle
avoidance; Motion control of mobile robots: Motion controlling methods, kinematic control, dynamic control and
cascaded control.

Sensors for mobile robot navigation: magnetic and optical position sensor, gyroscope, accelerometer, magnetic
compass, inclinometer, tactile and proximity sensors, ultrasound rangefinder, laser scanner, infrared rangefinder,
visual and motion sensing systems.

References
1. Siegwart, I., Nourbakhsh, I. R., and Scaramuzza, D., Introduction to Autonomous Mobile Robots, MIT Press,
USA, 2011.
2. Tzafestas, S. G., Introduction to Mobile Robot Control, Elsevier, USA, 2014.
3. Kelly, A., Mobile Robotics: Mathematics, Models, and Methods, Cambridge University Press, USA, 2013.
4. Thrun, S., Burgard, W., and Fox, D., Probabilistic Robotics, MIT Press, USA, 2005.
5. Dudek, G., and Jenkin, M., Computational Principles of Mobile Robotics, Cambridge University Press,
USA, 2010.
 EC3052E INTRODUCTION TO AUTONOMOUS INTELLIGENT SYSTEMS

Pre-requisites: NIL

L T P O C

3 0 0 6 3

Total Sessions: 39L

Course Outcomes:

CO1: Understand essential subsystems for autonomous intelligent systems.

CO2: Model autonomous decision-making tasks using the estimation, planning and control architecture.
CO3: Apply reinforcement learning approaches for autonomous decision making for complex environments.

Introduction to Autonomous Systems:

Introduction to autonomous systems, Levels of autonomy. Example of autonomous systems: Self driving cars, autonomous
drones – Architecture of autonomous systems: Sensorimotor architecture, Stateful architectures, Logical and physical
architectures – Modelling and control for autonomous systems: Representations and models, PID control

Vision for Autonomous Systems:

Vision: Introduction to projective geometry, Camera modeling and calibration, Image processing techniques for object
detection – Machine learning techniques for object detection: Introduction to neural networks, Convolutional neural networks,
One and two-stage object detection

State Estimation, Localization, and Planning:

State estimation and localization: Bayes filtering framework, Parameterized methods (Kalman filter), Sampling-based
methods (particle and histogram filter). Planning: Formalization of the planning problem, Graphs, Graph search algorithms

Reinforcement Learning: Reinforcement Learning: Markov decision processes, Value functions, Q-learning, Exploration
and Exploitation techniques.

References:

1. Ulrich Nehmzow, Mobile robotics: a practical introduction, 2nd Edn, Springer Science & Business Media,
2012.
2. Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza, Introduction to Autonomous Mobile Robots, 2nd
Edn, MIT Press, 2011
3. Luc Jaulin, Mobile robotics. John Wiley & Sons, 2019.
4. R. Sutton and A. Barto, Reinforcement Learning: An Introduction, 2nd Edn., MIT Press, 2018.
5. Stuart Jonathan Russell, Peter Norvig, Artificial intelligence a modern approach, 4th Edn, Pearson Education,
Inc,2016