1. City College of New York 1 John (Jizhong) Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu Projects for Advanced Topics on Mobile Robotics

2. City College of New York 2 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

3. City College of New York 3 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

4. City College of New York 4 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

5. City College of New York 5 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

6. City College of New York 6 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

7. City College of New York 7 Human Tracking Investigate the research issues for human tracking and human/machine interaction Implementation –Track human’s 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

8. City College of New York 8 Self-defined project Discuss with the instructor before April 8, 2005. For all possible projects, you are encouraged to contact me for more references.

9. City College of New York 9 Thank you!