John (Jizhong) Xiao

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Projects for Advanced Topics on Mobile Robotics

• John (Jizhong) Xiao
• Department of Electrical Engineering
• City College of New York
• jxiao_at_ccny.cuny.edu

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General Requirements

• In general, the term project requires you to
  propose an idea on the latest development/research
  issues and implement it on the ActivMedia mobile
  robot. The topics can be selected based on an
  extensive literature research within the coverage
  of this course.
• A list of recommended topics is given. The
  students are also encouraged to define their own
  project topics.
• Students are encouraged work in a team of 3 or 4
  students.
• A project proposal is due on April 8. The project
  proposal is limited to 3 pages. The proposal
  should include the project title, authors,
  abstract, brief introduction or background,
  proposed work, approaches and plans. References
  should be properly cited.
• A term project report is required. The report is
  limited to 15 pages. For each group, there will
  be a demo at the end of the semester.
• Grading of project (count 40 pts of the total
  grade)
• Demo 10
• Project report 20
• Peer review 10

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Motion Control of Mobile Robots

• Based on literature review, investigate and
  implement one of the control approaches for
  mobile robot, such as the virtual vehicle
  approach.
• Equipment available
• Mobile robot with sensors

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Parallel Parking of Nonholonomic Mobile Robot

• Based on literature review, investigate the
  approaches could be used for the parallel parking
  of nonholonomic mobile robot
• Implementation of one of the approaches
• Equipment available
• Mobile robot with sensors
• Vision sensors

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Internet-based Tele-operation of Mobile Robots

• Based on literature review, investigate the
  advances in Internet based tele-operation.
• Implement one approach so that the robot can be
  controlled from remote sites.
• Available equipment
• Joystick
• Mobile robot
• Network Camera

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Robot Mapping and Localization

• Based on literature review, investigate the
  recent advancement in robot mapping and
  localization.
• Implement one approach so that the robot can
  build a room map using its sensors.
• Available equipment
• Mobile robot
• Sonar ring, laser ranger, and camera

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Human Tracking

• Investigate the research issues for human
  tracking and human/machine interaction
• Implementation
• Track humans hand or face based on the camera
  and the sonar sensor
• Need to program the PTZ camera
• Available equipment
• Sony Video Camera EVI D30
• Mobile robot

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Self-defined project

• Discuss with the instructor before April 8, 2005.
• For all possible projects, you are encouraged to
  contact me for more references.

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Thank you!