MTech RAS Curriculum

  
  
 
  
 
  
 
  

Program Plan at a Glance

Total number of credits: 64 (17 Core + 21 Soft Core + 26 Thesis Project)

Term

 

Research

Other

Sem 1 (Aug-Dec)

CP241 (3)

(Core)

CP220 (3)

(Core)

CP214 (3:1)

(Core)

CP 212 (2: 1)

(Soft Core)

Optional

 

Sem 2 (Jan-Apr)

CP260 (2:1)(Soft Core)

Soft Core (3)

Soft Core (3)

Soft Core (3)

CP210 -Seminar(0:1)(Core)

Assignment of Thesis Project

Advisor

Summer (May-Jul)

   

CP280 (1:2)

(Core)

Thesis Project (3)

 

Sem 3 (Aug-Dec)

Soft Core/Elect ive (3)

Soft Core/Electi ve (3)

  

Thesis Project (8)

Placement Interviews

Sem 4 (Jan-Apr)

Soft Core/Elect

ive (3)

   

Thesis Project (15)

 

Notes:

1.       17 Credits are from the mandatory (Core) courses

  1. List of Soft Core courses is below
  2. Electives can be any course offered in IISc (with due permission of the instructor)

Final project will focus on research or technology innovations for industrial or research problems, and will include a mix of analysis, design and implementation.

Program Details

Note: Explanation of the credits

a:b => ‘a’ hours/week of lectures and ‘b’x 3 hours/week of laboratory work.

Core Courses:

 

Course No

Course Name

Course Contents in Brief

Credits

Instructor

Semester

E1241

Dynamics of

Linear Systems

State space modeling, Linear

Systems, Linear Control

3:0

Vaibhav Katewa

Aug-Dec

CP 220

Mathematical Techniques

Intro to Probability, Linear Algebra, Bayesian Inference, Introduction to Optimization

3:0

TBD

Aug-Dec

CP230

Autonomous Navigation &

Planning

Navigation and planning for autonomous robots

2:1

Debasish Ghose/Mukunda

Jan-Apr

CP280

Experimental Techniques in Robotics

ROS/ROS2, SLAM, Networking, Navigation, Planning, Competition Project

1:2

Suresh/Mukunda

/Naveen

Summer

CP214

Foundations of Robotics

Modelling and simulation of robots

3:1

Shishir NY

Aug-Dec

CP210

Seminar

Exposure to latest topics in research and industry

0:1

Ashitava Ghosal

Jan-Apr

 

Soft Core courses:

 
  

Course No

Course Name

Course Content

Credits

Faculty

Semester

AE372

Applied Optimal Control and State

Estimation

Calculus of Variations & optimal control formulation, Two point boundary value problems, LQR,STM,SDRE,HJB theory, MPSP design & extension etc

3:0

Radhakant Padhi

Jan-Apr

E1242

Nonlinear Systems and Control

Consensus over networks with applications in synchronization & opinion dynamics, stabilization over rate limited & quantization channels, Network protocol design, Decentralized optimal control & information patterns, security & privacy in networked control systems

3:0

Pavan T

Jan-Apr

E1246

Topics in Networked and

Distributed Control

Relevant background topics in control,Estimation & control under communication constraints,event triggered control,connectivity maintenance,security in networked & distributed control systems,applications in robotics & transportation

3:0

Vaibhav L./Pavan T

Aug-Dec

E1277

Reinforcement

Learning

MDP, Reinforcement Learning

3:1

Shalabh B/Gugan Thoppe

Jan – Apr

E0272

Formal Methods in Software Engineering 

Domain modeling using first-order predicate logic and relational calculus — the tools Alloy and Event-B. Verification of finite-state systems, and concurrent systems — Spin. Verifying code correctness using logical reasoning — VCC. Testing and bounded-exploration of applications — Pex and AFL.

3:1

K V Raghavan /Deepak D’Souza

Jan-Apr

E3258

Design for IoT

Introduction to IoT, Challenges in IoT – Power, Security, Identification, Location, Low Power Design, Energy harvesting systems, Power management algorithms, ARM processor low power features, multiprocessor systems, Lifetime estimation,  RFID and its applications, Backscattering techniques, Working with protocols such as MQTT, COAP, for low power and energy harvesting sensor nodes,  Low power wireless networks – Bluetooth Low Energy (BLE),  and IEEE 802.15.4e TSCH.  Low Power Wide Area Networks – LORA, NBIoT and power-saving modes, CAT-LTE-M1. 

2:1

T V

Prabhakar

Aug-Dec

CP312

Design of CPS -II

C/C++, Realtime OS, Embedded Programming

2:1

Darshak Vasavada/

Ashish Joglekar

Jan-Apr

CP212

Design of CPS-I

Sensor Front ends, Actuators, Motors and Motor Drives, EMI/EMC, Sensor Noise and data conversion,

Imaging/acoustic/infrared/lidar/radar transducers

2:1

Ashish Joglekar/D arshak Vasavada

Aug-Dec

CP232

Swarm Robotic System

Autonomous operation of Drone/Robots, Swarm Intelligence (Self-Organization & emergence). Motion control, planning, target tracking, predator-prey, formation, Cooperation and Coordination, Market, team theory, game theoretic approaches, decision making under

uncertainty

2:1

Suresh Sundaram/ Jishnu Keshavan

Jan – Apr

PD232

Human-Computer Interactions

Basic psychology of Perception and Motor Action, Collaborative Robots, Introduction to AR/VR and Haptics

systems, Facial Expression Recognition, Case studies on HRI

2:1

Pradipta Biswas

Aug-Dec

CP 314

Robot Learning

and Control

Machine learning based control for

robotic systems

3:1

Shishir NY

Jan-Apr

CP260

Perception & Intelligence

Localization & Mapping, Multi- Sensor Perception, Knowledge Representation, Reasoning

2:1

Bharadwaj Amrutur/R aghu K

Jan-Apr

 CP216

Industrial IoT systems

Industrial protocols such as Time Triggered Ethernet, Time Sensitive Networks, Detnets, Modbus/TCP, PLC systems, Construction of Digital

twins, Condition monitoring,

2:1

TV

Prabhakar

Jan-Apr

New Course (MN30 4)

Human Robot Interactions

Introduction; Cross-disciplinary foundation; Hardware and Software components and architecture; Research themes; Building blocks;

Navigation, Interaction,

2:1

Pradipta Biswas/A mit Pandey

Jan-Apr

 

  

Manipulation, and Behavioral aspects for Social Robots; AI for social robots (including Autonomy and Learning for Social Intelligence); Designing a social robot (including Humanoid, mobile and interactive

robots); User Studies; Pointers to advanced Topics in the domain.

   

NE250

Entrepreneurship

Entrepreneurship, Ethics & Societal Impact

1:0

Madhu Atre

TBD

 

 

Laboratory Modules (will be embedded in the courses as well as in CP280):

Name

Contents

Mobile Robot

Programming

Learn to program mobile robots to navigate around an obstacle course

Control of Industrial Robot Arms

Learn to program industrial robot arms to do various tasks like pick and place, movements, gripping, welding etc. Program collaborative arms.

Programming of Drone Systems

Program drones for landing, sorties, pattern flying, etc.

Telerobotics

Control robot arms/humanoids over the network.

Robot simulation frameworks

Exercises in Simulation frameworks like PyBullet, Gazebo by creating robot and world models, demonstration of various algorithms

VR/AR & Speech Interfaces

Programming VR/AR, haptics and speech interfaces to machines/robots

Human Robot Interaction

Interfacing Robots with interactive devices like gesture and speech recognition systems, eye gaze tracker, Industrial CoBoT, TeleRobotics, HRI for semi- autonomous vehicle, cognitive load estimation (“human/operator state” might be a broader term?)

ROS/ROS2

Software Stacks

Robot programming using ROS/ROS2

Machine Learning for Robots

ML based Control for Grasping and Manipulation

Robot Sensor and Actuator Systems

Integrate new sensor and actuator system to a robot’s perception system

3D Design and Prototyping for

Robotics

3D CAD design, URDF model creation, 3D printing of part and attachment to a robot

Drone piloting

Learn to fly drones in IISc testbed

Multi-sensor odometry

Wheel, IMU, GPS, Lidar, wireless, and combinations by filter-based fusion

Visual navigation

Tag-based, landmark-based, feature based, direct methods, deep learning based,

monocular and stereo methods

Relevance and Need of the Program

Robotics and autonomous systems are an integral part of Industry 4.0 and robotic automation will see an exponential growth in the future. The shortage of skilled labor in transport, agriculture, and supply chain management; operations in hazardous environment like mines and waste processing and recovery; remote monitoring, space explorations and defense will drive the future of robotic automation solutions. Co-design of Cyber and Physical components of such systems and their safe operation along with humans in unstructured and uncertain environments will be key characteristics of such systems.

Robotics and Autonomous Systems have also changed over the last decade – with the confluence of AI/ML with cheap sensors/Actuators and Battery technologies

With substantial investments by the Govt of India and Govt. Of Karnataka in this area at IISc through the AI & Robotics Park Initiative (ARTPARK), as well as investments from companies like Cisco, Nokia, Garrett etc. via CSR grants – IISc has started developing state of the art experimental facilities in Connected Robots and Autonomous Systems. These facilities to not only support our research, but also develop rich experiential/laboratory-based training programs for the students.

Robotics and Autonomous System has always fascinated our UG students as evidenced by their keen participation in many robotic competitions. However, there is no comprehensive course program in this domain in the country that can train then in the foundational aspects as well as the experimental aspects of the subject.

Key Learning Outcomes of the program

▫  Foundational concepts in Mathematical Foundations like Linear Algebra, Computational Techniques, Probability and Statistics, Control & Optimization, Statistical Signal Processing, Planning & Decisions, Stochastic and Data driven Control, AI for Robotics, Dynamics & Kinematics, Formal Techniques for CPS

▫  Applied concepts in Networking for Robotics & Autonomous Systems, Real-Time Embedded Systems, Sensing & Actuation Systems, Applied Machine Learning for Speech & Vision, Reinforcement Learning for Robot Control, Swarm & Team Robotics, Human-Machine Interactions & social robotics, Security, Safety & Privacy for Autonomous Systems, Autonomous ground/air Robots, Navigation & Guidance, Perception via Signal & Image Processing

▫  Experiential learning via laboratory modules for: Mobile robot programming, Control of Industrial Robot Arms, Programming of Legged Robots, Programming of Drone Systems, Tele-Robotics, Secure Data Pipelines, Robot Simulation Frameworks, VR/AR & Speech Interfaces for Robots, ROS/ROS2 Software stacks, Machine Learning for Robots, Robot hardware for Sensor & Actuator Systems, 3D Design and Prototyping for Robotics, Drone Piloting, Game engine programming, GPU Programming.

About RBCCPS

RBCCPS under Div. Of Inter-Disciplinary Sciences, is in a unique intersection of Div. Of EECS and Mechanical Sciences and hence can offer such training spanning both the disciplines – and will be the pillar of this program. ARTPark (AI & Robotics Technologies Park) has been incubated by RBCCPS and will provide laboratory support.

How will this program benefit Industry?

Graduates will have a good exposure to foundational and applied topics in Robotics and Autonomous Systems. Hands on exposure to engineering with robots – including mechanical prototyping, ROS/ROS2 programming, AI/ML based programming, VR/AR and other HCI Technologies, 5G and WiFi6 experimentation, indoor and outdoor ground, and aerial robot experiences, will make them well rounded and prepared for many industry problems. They will be able to contribute effectively to create innovative technologies and products in the emerging AI & Robotics applications in industry 4.0, medical, agriculture, mining, defense, smart cities etc.

How will this program benefit academia?

Good theoretical and practical grounding will prepare the graduates of this program to participate in innovative experimental research in Robotics and Autonomous Systems.

Target Audience

Students with UG/PG background in EE, ECE, CS, Mech, Aero and related fields

Target Stakeholder Beneficiaries

Industries in Robotics and Autonomous Systems like: ABB, Bosch, TCS, Wipro, GE, Defense PSUs, Amazon, Flipkart, Target, Nokia, Google, CAIR, ADA, NAL, Intel, Siemens, etc. and many startups

Research Labs in academia like in IISc and IITs.

Laboratory Facilities:

  • Robot Arms,
  • Indoor Mobile Robots & Drones,
  • Outdoor Mobile Robots & Drones,
  • Outdoor autonomous driving testbed
  • Indoor Connected Robots Lab
  • Humanoid Robots,
  • Legged Platforms & Treadmills,
  • Indoor Mocap system,
  • Indoor Drone Testbed, Windshaping Facility & Indoor Drones,
  • Ware-house Robotics Testbed,
  • Electronics and Mechanical Prototyping Facilities

Fees:

As per IISc Norms

Selection:

  • Background Degree: BE, BTech, BS (4years)/Equivalent with Gate about
  • For Ministry of Education (MOE) Scholarship: GATE needed in one of (EE, EC, ME, AE, IN, CS)
  • Sponsored Candidates: Selection as per institute norms
  • Selection based on : Gate (70%) + Interview (30%)

Numbers:

30/year for first two years – increasing to 50/year post that. Allot 10% for sponsored students.

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