Course Information

Course Name	Turkish	Robotik için Temel Matematik
	English	Foundational Mathematics for Robotics
Course Code	ROS 201E	Credit	Lecture (hour/week)	Recitation (hour/week)	Laboratory (hour/week)
Semester	4	3	3	-	-
Course Language		English
Course Coordinator		Osman Ervan
Course Objectives		1. To develop a strong mathematical background necessary for robotics applications. 2. To enable students to apply concepts of linear algebra, transformation geometry, and filtering in robotics. 3. To provide hands-on experience in modeling and analyzing robotic systems using mathematical frameworks. 4. To prepare students to use these foundations in advanced robotics topics such as localization, mapping, and control.
Course Description		Providing a mathematical foundation for robotics and autonomous systems; introducing rigid body kinematics, coordinate transformations; exploring filtering techniques such as Kalman filters for robot perception and motion estimation; emphasizing mathematical tools for robot modeling, localization, and sensor data processing; supporting applications in navigation, mapping, and state estimation.
Course Outcomes		Upon successful completion of this course, students will be able to: I. Explain the mathematical principles of robot kinematics and transformations. II. Model and analyze robot motion using configuration space and quaternions. III. Apply geometric and algebraic tools to represent rigid body movements and spatial transformations. IV. Utilize filtering techniques (e.g., Gaussian and nonparametric filters) to process sensory data for state estimation. V. Develop an understanding of point cloud registration in robot perception tasks.
Pre-requisite(s)		Linear Algebra, Probability and Statistics
Required Facilities
Other
Textbook		Fundamentals of Robotics Applied Case Studies with MATLAB & Python, Hamid D. Taghirad, CRC Press Taylor & Francis Group, 1st Edition, 2025
Other References		1. Quaternion Algebras, John Voight, Springer, 1st Edition, 2021 2. Probabilistic Robotics, Sebastian Thrun, Wolfram Burgard, and Dieter Fox, The MIT Press, 1st Edition, 2005 3. Theory of Applied Robots Kinematics, Dynamics, and Control, Reza N. Jazar, Springer, 3rd Edition, 2022 4. Encyclopedia of Distances, Michel M. Deza, Elena Deza, Springer, 2nd Edition, 2013

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