Welcome to CS148 for Spring 2001:

Building Intelligent Robots

Date and Time: Mondays and Wednesdays, 1:00-2:30pm in CIT Lubrano
Instructor: Tom Dean




This course addresses the problem of controlling physical systems that operate in dynamic, unpredictable environments. Students will, in pairs, build their own mobile robots, and program them to perform a variety of simple tasks. The lectures cover basic hardware including gear trains and robot construction, interfacing with sensors and motors, basic open- and closed-loop control, robot programming languages, and architectures for building perception and control systems for intelligent robots. Students will be required to keep a notebook recording both successful robots and failures and translating their ideas and insights into basic principles and design strategies.


The syllabus is available from the official course web pages.



[Baum, 2000] Baum, D., Dave Baum's Definitive Guide to Lego Mindstorms, Apress, 2000.
[Baum et al., 2000] Baum, D., Gasperi, M., Hempel, R., Villa, L.Extreme Mindstorms: An Advanced Guide to Lego Mindstorms, Apress, 2000.
[Bonasso and Dean, 1997] Bonasso, P., Dean, T., "Retrospective of the AAAI Robot Competitions", AI Magazine, Volume 18 (1), 1997. (PDF)
[Braitenberg, 1998] Braitenberg, V., Vehicles: Experiments in Synthetic Psychology, MIT Press, 1998.
[Brooks, 1986] Brooks, R.A., "A robust layered control system for a mobile robot", IEEE Journal of Robotics and Automation, Volume 2(1), 1986.
[Dean and Wellman, 1991] Dean, T., Wellman, M., Planning and Control, Morgan and Kaufmann, 1991.
[Dean et al., 1995] Dean, T., Allen, J., Aloimonos, Y., Artificial Intelligence: Theory and Practice, Addison-Wesley, 1995.
[Jones and Flynn, 1993] Jones, J.L., Flynn, A.M., Mobile Robots: Inspiration to Implementation, A K Peters, 1993.
[Knudsen, 1999] Knudsen, J.B., The Unofficial Guide to Lego Mindstorms Robots, O'Reilly, 1999.
[Kortenkamp et al., 1999] Kortenkamp, D., Bonasso P., Murphy, R., Artificial Intelligence and Mobile Robots, MIT Press, 1999.
[Martin, 2001] Martin, F., Robotic Explorations: A Hands-On Introduction to Engineering, Prentice-Hall, 2001.
[Murphy, 2000] Murphy R., An Introduction to AI Robotics (Intelligent Robotics and Autonomous Agents), MIT Press, 2000.
[VanDoren, 1998] V.J. VanDoren, "Tuning Fundamentals: Basics of Proportional-Integral-Derivative Control", Control Engineering, March, 1998.