Ryerson University 
School of Computer Science 

CPS607 Autonomous Mobile Robotics


Lecture Notes


The Ryerson lecture notes are also available in Adobe PDF reader format (3.0) and are list below. You will need to install the freely available PDF reader for the machine you are using. This can be found at the Adobe web site. Go to the Apple site to get a quicktime plugin to see the videos...that's up to you.

These notes are not necessarily in the order that they will be presented.

  1. The Dissuasion class andclass notes
  2. Introduction to Autonomy class and class notes
  3. The Tutebot 1 class and class notes
  4. The Tutebot 2 class and class notes
  5. Robotics History class and class notes
  6. A video tape of the previous year's efforts on lab 1 (Go see Lab 1)
  7. Steve talks about the MC68HC11
  8. Sensing 1 a reading will be provided and the class notes. Here is some good stuff on synthetic sensors. Here is how to make a line following circuit and a robot and here.
  9. Steve and the amazing MC68HC11 miniboard
  10. Sensors in the natural world (or sensors 2) and class notes. Here is some (not necessarily) related stuff on human perception that is far and beyond what you will build in this course.
  11. Mobility 1 is about wheeled mobility and class notes. Probably the most famous use of a wheeled robot was the NASA robot deployed on Mars called Sojourner. Here is a video of an early NASA earth-based exercise. Note the impatience of one of the participants as Sojourner slowly makes it way down the ramp.
  12. New Perspectives on Intelligence and class notes. For an interesting set of simulations of Braitenberg vehicles go here. For interesting ideas on actually building them go here.
  13. Alex's simulation sandbox
  14. Understanding Animal Behaviour 1 and class notes.
  15. Complex Adaptive Behaviour and class notes, also please read about Subsumption
  16. Motion Planning and class notes. Please read about Flakey
  17. Mobility 2 is about walking and class notes. Here is a simulation of what hexapod walking is like using an alternating tripod gait, based on some work at MIT. Here is some interesting work I found on the web that you can build. Here is a local copy of the video. There are a lot of comparisions that can be made between artificial and natural walking, please see this paper.
  18. Animal Behaviour 2 and class notes


email:aferworn@scs.ryerson.ca