CS 5970-001: Mobile Manipulation
(Spring 2016)

Mobile Manipulators are robotic systems that are capable of navigating through and interacting with unstructured environments in order to perform a wide range of tasks. Designing control systems for this domain is a non-trivial process, due in part to the complexities of constructing and manipulating flexible and extensible representations of the environment, motor action and task. In this course, we will study the representation, learning, planning and control techniques that are currently driving this field forward.

When: T/Th 1:30-2:45

Where: One Partner's Place, Alpha Room (2nd floor conference room #2800) and the Artificial Intelligence and Robotics Lab (Suite #2600)

Topics will include:

Course Structure

The first third of the course will be be done in a lecture style. We will focus on an introduction to robot kinematics, and the Robot Operating System (ROS).

The latter two thirds of the course will be done in a combination of interactive and seminar styles. We will plan and carry out an extended project with a set of robots, and read and evaluate papers from the literature.

Class Project

This year's class project will be focused on the use of machine learning methods to enable the robots to learn how to understand the world around them and to act appropriately to solve tasks.


Permission of the instructor is required to enroll in this course.

Students need to have a solid background in a language such as C or C++ (or an ability to learn quickly) and mathematics (linear algebra, calculus, probability and statistics). Useful background includes: artificial intelligence, machine learning, robotics, the Robot Operating System, control systems, and/or embedded systems.

Class Materials


andrewhfagg - gmail.com

Last modified: Thu Jan 28 12:14:20 2016