This course provides an introduction to modern robotics. The focus is on robot kinematics, sensing techniques, localization, navigation, mapping and planning. Topics to be covered include robot spatial configuration, homogeneous coordinate transformation, mobile robot locomotion, mobile robot kinematics, robot motion control, sensors and perception, navigation and path planning, robot localization, simultaneous localization and mapping SLAM, robotic system architecture.

The applied component of the course includes experimental work with a programmable mobile robotic platform equipped with sensors. The project aims at integrating sensor measurements to build a representation of the environment and perform a robotic task.

Learning Outcomes

Upon successful completion, students will have the knowledge and skills to:

On successful completion of this course, students should have the skills and knowledge to:

1. Discuss the history, concepts and key components of robotics technologies.
2. Describe and compare various robot sensors and their perception principles that enable a robot to analyse their environment, reason and take appropriate actions toward the given goal.
3. Analyse and solve problems in spatial coordinate representation and spatial transformation, robot locomotion, kinematics, motion control, localization and mapping, navigation and path planning. 
4. Apply and demonstrate the learned knowledge and skills in practical robotics applications.
5. Plan, design and implement robotic systems, algorithms and software capable of operating in complex and interactive environments.
6. Effectively communicate engineering concepts and design decisions using a range of media.

Professional Skills Mapping:
Mapping of Learning Outcomes to Assessment and Professional Competencies 

Examination Material or equipment

Any calculator is allowed (we may ask to clear its memory).

Two (2) A4 sheets with notes (handwritten or typed) on both sides are also allowed.

Required Resources

A laptop computer is required for the practical laboratory work. Laptops can be provided for students who do not have one.

Recommended Resources

Students are encouraged to consult a variety of books on robotics including:

• R. Siegwart et al., Introduction to Autonomous Mobile Robots, Second Edition, MIT Press, 2011.
• S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, MIT Press, 2005.
• P. Corke, Robotics, Vision and Control, Springer, 2023.

Staff Feedback

Students will be given feedback in the following forms in this course:

• Written comments
• Verbal comments
• Feedback to the whole class, to groups, to individuals, focus groups

Student Feedback

ANU is committed to the demonstration of educational excellence and regularly seeks feedback from students. Students are encouraged to offer feedback directly to their Course Convener or through their College and Course representatives (if applicable). The feedback given in these surveys is anonymous and provides the Colleges, University Education Committee and Academic Board with opportunities to recognise excellent teaching, and opportunities for improvement. The Surveys and Evaluation website provides more information on student surveys at ANU and reports on the feedback provided on ANU courses.

Class Schedule

Week/Session	Summary of Activities	Assessment
1	Introduction
2	Kinematics, Odometry, and Spatial Variables
3	Kinematics, Odometry, and Spatial Variables
4	Kinematics, Odometry, and Spatial Variables	Laboratory
5	Applications of Kinematics, Odometry, and Spatial Variables	Problem Sheet
6	Sensors and Probability
7	Bayesian Filters	Laboratory
8	Extended Kalman Filters	Problem Sheet
9	SLAM
10	Path Planning and Navigation
11	Obstacle Avoidance
12	Course Revision	Problem Sheet, Laboratory

Assessment Summary

Assessment task	Value	Learning Outcomes
Practical Labs	40 %	2, 3, 4, 5, 6
Final Project (Collection of Problem Sheets)	30 %	1, 2, 3
Final Exam	30 %	1, 3

* If the Due Date and Return of Assessment date are blank, see the Assessment Tab for specific Assessment Task details

Policies

ANU has educational policies, procedures and guidelines, which are designed to ensure that staff and students are aware of the University’s academic standards, and implement them. Students are expected to have read the Academic Misconduct Rule before the commencement of their course. Other key policies and guidelines include:

• Student Assessment (Coursework) Policy and Procedure
• Special Assessment Consideration Policy and General Information
• Student Surveys and Evaluations
• Deferred Examinations
• Student Complaint Resolution Policy and Procedure

Assessment Requirements

The ANU is using Turnitin to enhance student citation and referencing techniques, and to assess assignment submissions as a component of the University's approach to managing Academic Integrity. For additional information regarding Turnitin please visit the ANU Online website Students may choose not to submit assessment items through Turnitin. In this instance you will be required to submit, alongside the assessment item itself, hard copies of all references included in the assessment item.

Moderation of Assessment

Marks that are allocated during Semester are to be considered provisional until formalised by the College examiners meeting at the end of each Semester. If appropriate, some moderation of marks might be applied prior to final results being released.

Assessment Task 1

Practical Labs

Overview

Three assessable practical labs will be conducted during semester, with a combined worth of 40% of the total course grade. The labs will involve the implementation of a SLAM system on a small mobile robot. Students will receive marks based on partaking in lab activities, obtaining correct or "best" results, writing suitable lab reports, and conducting presentations and demonstrations of their robot. The labs will involve a mixture of group work and individual work.

Due Dates

The assessable parts of the first lab will be due in Week 4.

The assessable parts of the second lab will be due in Week 7.

The assessable parts of the third lab will be due in Week 12.

Late submissions (after the due dates) will not be marked and will incur a mark of 0.

Submission

Submission of lab reports will be through Wattle.

Other assessable parts of the labs will be marked during the lab/tutorial sessions in which each student is registered.

Assessment Task 2

Final Project (Collection of Problem Sheets)

Overview

Three problem sheets will be released during semester, each worth 10% of the total course grade. The problem sheets will be based on the content covered in the lectures and tutorials, with some additional research required. Students may collaborate to solve the problem sets but must write (handwrite or type) and submit their own individual solutions.

Due Dates

The first problem sheet will be due in Week 5.

The second problem sheet will be due in Week 8.

The third problem sheet will be due in Week 12.

Late submissions (after the due dates) will not be marked and will incur a mark of 0. All times are Canberra times (AEST or AEDT).

Submission

Solutions to each problem sheet are to be submitted through Wattle.

Assessment Task 3

Final Exam

Overview

Final exam worth 30% of the total course mark covering all course content.

Due Dates

The exam will be scheduled during the final examination period.

Materials

Any calculator is allowed (we may ask to clear its memory). Two (2) A4 sheets with notes (handwritten or typed) on both sides are also allowed.

Academic Integrity

Academic integrity is a core part of our culture as a community of scholars. At its heart, academic integrity is about behaving ethically. This means that all members of the community commit to honest and responsible scholarly practice and to upholding these values with respect and fairness. The Australian National University commits to embedding the values of academic integrity in our teaching and learning. We ensure that all members of our community understand how to engage in academic work in ways that are consistent with, and actively support academic integrity. The ANU expects staff and students to uphold high standards of academic integrity and act ethically and honestly, to ensure the quality and value of the qualification that you will graduate with. The University has policies and procedures in place to promote academic integrity and manage academic misconduct. Visit the following Academic honesty & plagiarism website for more information about academic integrity and what the ANU considers academic misconduct. The ANU offers a number of services to assist students with their assignments, examinations, and other learning activities. The Academic Skills and Learning Centre offers a number of workshops and seminars that you may find useful for your studies.

Online Submission

The ANU uses Turnitin to enhance student citation and referencing techniques, and to assess assignment submissions as a component of the University's approach to managing Academic Integrity. While the use of Turnitin is not mandatory, the ANU highly recommends Turnitin is used by both teaching staff and students. For additional information regarding Turnitin please visit the ANU Online website.

Hardcopy Submission

For some forms of assessment (hand written assignments, art works, laboratory notes, etc.) hard copy submission is appropriate when approved by the Associate Dean (Education). Hard copy submissions must utilise the Assignment Cover Sheet. Please keep a copy of tasks completed for your records.

Late Submission

No submission of assessment tasks without an extension after the due date will be permitted. If an assessment task is not submitted by the due date, a mark of 0 will be awarded.

Referencing Requirements

Accepted academic practice for referencing sources that you use in presentations can be found via the links on the Wattle site, under the file named “ANU and College Policies, Program Information, Student Support Services and Assessment”. Alternatively, you can seek help through the Students Learning Development website.

Extensions and Penalties

Extensions and late submission of assessment pieces are covered by the Student Assessment (Coursework) Policy and Procedure The Course Convener may grant extensions for assessment pieces that are not examinations or take-home examinations. If you need an extension, you must request an extension in writing on or before the due date. If you have documented and appropriate medical evidence that demonstrates you were not able to request an extension on or before the due date, you may be able to request it after the due date.

Privacy Notice

The ANU has made a number of third party, online, databases available for students to use. Use of each online database is conditional on student end users first agreeing to the database licensor’s terms of service and/or privacy policy. Students should read these carefully. In some cases student end users will be required to register an account with the database licensor and submit personal information, including their: first name; last name; ANU email address; and other information. In cases where student end users are asked to submit ‘content’ to a database, such as an assignment or short answers, the database licensor may only use the student’s ‘content’ in accordance with the terms of service — including any (copyright) licence the student grants to the database licensor. Any personal information or content a student submits may be stored by the licensor, potentially offshore, and will be used to process the database service in accordance with the licensors terms of service and/or privacy policy. If any student chooses not to agree to the database licensor’s terms of service or privacy policy, the student will not be able to access and use the database. In these circumstances students should contact their lecturer to enquire about alternative arrangements that are available.

Distribution of grades policy

Academic Quality Assurance Committee monitors the performance of students, including attrition, further study and employment rates and grade distribution, and College reports on quality assurance processes for assessment activities, including alignment with national and international disciplinary and interdisciplinary standards, as well as qualification type learning outcomes. Since first semester 1994, ANU uses a grading scale for all courses. This grading scale is used by all academic areas of the University.

Support for students

The University offers students support through several different services. You may contact the services listed below directly or seek advice from your Course Convener, Student Administrators, or your College and Course representatives (if applicable).

• ANU Health, safety & wellbeing for medical services, counselling, mental health and spiritual support
• ANU Diversity and inclusion for students with a disability or ongoing or chronic illness
• ANU Dean of Students for confidential, impartial advice and help to resolve problems between students and the academic or administrative areas of the University
• ANU Academic Skills and Learning Centre supports you make your own decisions about how you learn and manage your workload.
• ANU Counselling Centre promotes, supports and enhances mental health and wellbeing within the University student community.
• ANUSA supports and represents undergraduate and ANU College students
• PARSA supports and represents postgraduate and research students