NAVARCH 568 - Mobile Robotics: Methods and Algorithms
Section: 001
Term: FA 2010
Subject: Naval Arch & Marine Engin (NAVARCH)
Department: CoE Naval Architecture and Marine Engineering
4 (Non-LSA credit).
Requirements & Distribution:
Waitlist Capacity:
Advisory Prerequisites:
Graduate standing or permission of instructor.
This course counts toward the 60 credits of math/science required for a Bachelor of Science degree.
May not be repeated for credit.
Primary Instructor:

Theory and application of probabilistic techniques for autonomous mobile robotics. This course will present and critically examine contemporary algorithms for robot perception (using a variety of modalities), state estimation, mapping, and path planning. Topics include Bayesian filtering; stochastic representations of the environment; motion and sensor models for mobile robots; algorithms for mapping, localization, planning and control in the presence of uncertainty; application to autonomous marine, ground, and air vehicles.

Course Topics:

  • Probabilistic Models / State Estimation
    • Probability review, Bayes rule, Bayes filters
    • Motion models, Sensor models
    • Kalman filters – KF, EKF, UKF
    • Discrete filters – Particle filters, Rao-Blackwellized PFs
    • Mapping / SLAM
    • Map representations – occupancy maps, feature-based maps, pose-graphs
    • EKF SLAM, FastSLAM, Pose-Graph SLAM, Visual-SLAM
  • Perception:
    • Computer vision, image processing
    • LIDAR, scan-matching, ICP
    • RANSAC, data association
  • Navigation / Localization
    • GPS, IMU, odometry
    • Underwater vehicle navigation
  • Planning
    • Markov Decision Processes, Partially Observable Markov Decision Processes
    • Exploration, Active localization

NAVARCH 568 - Mobile Robotics: Methods and Algorithms
Schedule Listing
001 (LEC)
TuTh 10:30AM - 12:30PM
NOTE: Data maintained by department in Wolverine Access. If no textbooks are listed below, check with the department.

ISBN: 0262201623
Probabilistic Robotics, Author: S. Thrun, W. Burgard, and D. Fox, Publisher: MIT Press 3RD PRINT 2005
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