1 Introduction

EE-877 Mobile Robotics
Introduction
Dr. Latif Anjum

Assist. Prof. NUST – SEECS
Graduate Course in Electrical Engineering (AI & Autonomous Systems)
Instructor Introduction
 Dr. Latif Anjum
 Director, Robotics & Machine Intelligence (ROMI) Lab, SEECS.
(http://romi.seecs.nust.edu.pk/)
 Purpose / Objective of Lab
 Robotics and allied areas of research have become an integral part of Electrical
Engineering departments around the world and robotics research labs are active
parts of the departments.
Robotics and Machine Intelligence (ROMI) lab, being part of the department
of electrical engineering at SEECS, is mainly interested in developing
intelligent systems for robot’s autonomy.
Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 2

Instructor: Dr. Latif Anjum
Robotics and Machine Intelligence (ROMI) Lab
 Current Robotics Related Research at SEECS
Funded Project
Project Title: “Developing an Efficient and Robust SLAM Algorithm for Indoor
and Outdoor Mobile Robots”.
Status: Ongoing (Jun 2018 – Aug 2020)

Funding Available: PKR 3.86811 M
Funding Agency: HEC (NRPU)
Permanent Equipment Cost: PKR 2.711 M
PI: Dr Latif Anjum
Co – PI: Dr Osman Hasan
Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Funded Project
Project Title: “Development of a Small Scale Fully Autonomous Vehicle Capable
of Path Planning in Unknown Environment”.
Status: Ongoing (Jun 2020 – Aug 2023)

Funding Available: PKR 5.033 M
Funding Agency: HEC (NRPU)
PI: Dr Latif Anjum

Co – PI: Dr Wajahat Hussain

Naveed, K., Anjum, M. L., Hussain, W., & Lee, D. (2022). Deep introspective SLAM: deep reinforcement learning based approach to
avoid tracking failure in visual SLAM. Autonomous Robots, 46(6), 705-724.

*Submitted to Robotics & Autonomous Systems

Ikram, M. H., Khaliq, S., Anjum, M. L., & Hussain, W. (2022). Perceptual Aliasing++: Adversarial Attack for Visual SLAM Front-
End and Back-End. IEEE Robotics and Automation Letters, 7(2), 4670-4677.
Ali, Z., Anjum, M. L., & Hussain, W. (2019). Adversarial Examples for Handcrafted Features. In BMVC (p. 9).

Under review at Computer Vision & Image Understanding

Zafar, M. M., Anjum, M. L., & Hussain, W. (2021). LTA*: Local tangent based A* for optimal path planning. Autonomous Robots,
45(2), 209-227.

Ahmad, H., Usama, S. M., Hussain, W., & Anjum, M. L. (2021). A sketch is worth a thousand navigational instructions.
Autonomous Robots, 45(2), 313-333.

Norms Setting / Class Rules
 Class rules / norms to be set after discussion with class.
 Attendance timings
 Late arrivals in class
 Cell phone ringing
 Unwanted behavior in class
 Assignment submissions
 Plagiarism in assignments (we will follow SEECS policy on plagiarism)
 Etc

Course Contents
 Following topics will be discussed (detailed contents available on LMS)
 Topic 1 --- Course Introduction, Locomotion
 Topic 2 --- Mobile Robot Kinematics
 Topic 3 --- Learning ROS (Robot Operating System) for Robotic Programming
 Topic 4 --- Robot Perception
 Topic 5 --- Robot Localization
 Topic 6 --- SLAM / Path Planning
 Textbook
 “Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents series)”
(2nd edition) by Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza. [The MIT Press].
 “Learning ROS for Robotics Programming” by Aaron Martinez, Enrique Fernández. [Packt Pub-
lishing]
 “Introduction to Robotics, Mechanics and Control”, by John J. Craig [Pearson Education
International]
 Reference Books
 “Mobile Robotics – Mathematics, Models, and Methods” by Alonzo Kelly. [Cambridge University Press].
 “Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series)” by Sebastian Thrun, Wol-
fram Burgard, Dieter Fox. [The MIT Press].

Introduction
 Robotics
 Fixed/industrial robots

Introduction
 Mobile Robotics
 Challenges to achieve supervised motion
 Locomotion in normal and hostile environment
 Humans perform the localization and cognition tasks
Plustech developed the first ‘industrial like’

walking robot. It is designed for moving wood
out of the forest. The leg coordination is
automated, but navigation is still done by
the human operator on the robot.
http://www.plustech.fi/

Introduction
 Mobile Robotics
 Challenges to achieve supervised motion
 Locomotion in normal and hostile environment
 Humans perform the localization and cognition tasks
Picture of Pioneer, the teleoperated robot that is

supposed to explore the Sarcophagus at Chernobyl.
*Robots such as this have mobility but not AUTONOMY

Introduction
 Mobile Robotics
 Unsupervised/autonomous robots
 They have mobility and autonomy and can navigate themselves.
HELPMATE is a mobile robot used in hospitals for

transportation tasks. It has various on board sensors
for autonomous navigation in the corridors. The main
sensor for localization is a camera looking to the ceiling.
It can detect the lamps on the ceiling as reference (landmark).
http://www.ntplx.net/~helpmate/

Introduction
 Mobile Robotics
 Unsupervised/autonomous robots
 They have mobility and autonomy and can navigate themselves.
BR 700 cleaning robot developed and sold by

Kärcher Inc., Germany. Its navigation system is
based on a very sophisticated sonar system and a gyro.
http://www.kaercher.de

Introduction
 Mobile Robotics
 Mobile robot models for research purposes
PIONEER P3-DX is a modular mobile robot Dingo – D is another popular robot from
offering Clearpath robotics, Canada.
various options like a gripper or an on board
camera. It is equipped with a sophisticated
navigation library developed at Stanford Research
Institute (SRI). http://www.activmedia.com/robots
Introduction
 Mobile Robotics
 Control Scheme

Grading Policy
 Grading Policy (weightages are tentative)
 OHT1/ OHT2: Midterm 25%

 Assignments: 10%
 Quizzes : 10%
 Project: 10%
 Final Exam : 45%


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EE-877 Mobile Robotics

Dr. Latif Anjum

 Purpose / Objective of Lab

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 2

Status: Ongoing (Jun 2018 – Aug 2020)

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Status: Ongoing (Jun 2020 – Aug 2023)

PI: Dr Latif Anjum

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

*Submitted to Robotics & Autonomous Systems

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Under review at Computer Vision & Image Understanding

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 12

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 13

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 14

 Humans perform the localization and cognition tasks

Plustech developed the first ‘industrial like’

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 15

 Humans perform the localization and cognition tasks

Picture of Pioneer, the teleoperated robot that is

*Robots such as this have mobility but not AUTONOMY

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 16

HELPMATE is a mobile robot used in hospitals for

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 17

BR 700 cleaning robot developed and sold by

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 18

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 20

 OHT1/ OHT2: Midterm 25%

Introduction to Autonomous Mobile Robots (2nd Ed), Seigwart 21

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