• Offered by School of Engineering
  • ANU College ANU College of Engineering and Computer Science
  • Course subject Engineering
  • Areas of interest Engineering
  • Academic career PGRD
  • Mode of delivery In Person
  • Offered in Second Semester 2023
    See Future Offerings

This advanced graduate course explores Bayesian inference as a core enabling technology for modern, increasingly autonomous, mechatronic systems. The course introduces the conceptual and mathematical underpinnings of Bayesian inference with a particular emphasis on its ability to integrate model-based prior knowledge about dynamical systems with information derived from sensors and perception systems. Algorithms for Bayesian inference commonly employed in mechatronic systems will be examined in detail including Bayesian filters, Bayesian smoothers, and Bayesian sequential detection algorithms. The theory and algorithms of Bayesian inference will be applied to problems in mechatronics such as localisation and mapping for mobile robots, sensor fusion and moving target tracking for autonomous vehicles, and fault detection for industry 4.0+.


Learning Outcomes

Upon successful completion, students will have the knowledge and skills to:

  1. Explain the mathematical foundations of Bayesian inference including the relationship between prior and posterior probabilities, and likelihoods.
  2. Derive recursive forms of the hidden Markov model filter and the Kalman filter, and discuss the impact of model parameters on their performance.
  3. Evaluate and compare Bayesian inference algorithms including their theoretical optimality properties.
  4. Employ factor-graph formulations and numerical methods to solve large-scale Bayesian inference problems.
  5. Design and implement Bayesian inference algorithms for mechatronic applications such as localisation and mapping, sensor fusion, target tracking, and fault detection.

Indicative Assessment

  1. Problem sets (10) [LO 2,3,4]
  2. Project (40) [LO 3,4,5]
  3. Final Exam (50) [LO 1,2,3,5]

The ANU uses Turnitin to enhance student citation and referencing techniques, and to assess assignment submissions as a component of the University's approach to managing Academic Integrity. While the use of Turnitin is not mandatory, the ANU highly recommends Turnitin is used by both teaching staff and students. For additional information regarding Turnitin please visit the ANU Online website.

Workload

120 hours in total over the semester consisting of:

  • 12 × 2 hr Lectures/week
  • 11 × 2 hr Tutorials/week
  • Self-directed learning as required.

Inherent Requirements

Information on inherent requirements for this course is currently not available.

Requisite and Incompatibility

To enrol in this course you must be studying Master of Engineering in Mechatronics, Master of Engineering in Electrical Engineering, or Master of Machine Learning and Computer Vision.

Prescribed Texts

None

Preliminary Reading

  • S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, MIT Press, 2005.
  • S. Särkkä, Bayesian Filtering and Smoothing, Cambridge University Press, 2013.
  • V. Krishnamurthy, Partially Observed Markov Decision Processes, Cambridge University Press, 2016.

Assumed Knowledge

Mathematics including differential equations, probability theory, statistics, and matrix analysis. Students are also required to have adequate programming and software skills.

Fees

Tuition fees are for the academic year indicated at the top of the page.  

Commonwealth Support (CSP) Students
If you have been offered a Commonwealth supported place, your fees are set by the Australian Government for each course. At ANU 1 EFTSL is 48 units (normally 8 x 6-unit courses). More information about your student contribution amount for each course at Fees

Student Contribution Band:
2
Unit value:
6 units

If you are a domestic graduate coursework student with a Domestic Tuition Fee (DTF) place or international student you will be required to pay course tuition fees (see below). Course tuition fees are indexed annually. Further information for domestic and international students about tuition and other fees can be found at Fees.

Where there is a unit range displayed for this course, not all unit options below may be available.

Units EFTSL
6.00 0.12500
Domestic fee paying students
Year Fee
2023 $4860
International fee paying students
Year Fee
2023 $6180
Note: Please note that fee information is for current year only.

Offerings, Dates and Class Summary Links

ANU utilises MyTimetable to enable students to view the timetable for their enrolled courses, browse, then self-allocate to small teaching activities / tutorials so they can better plan their time. Find out more on the Timetable webpage.

The list of offerings for future years is indicative only.
Class summaries, if available, can be accessed by clicking on the View link for the relevant class number.

Second Semester

Class number Class start date Last day to enrol Census date Class end date Mode Of Delivery Class Summary
5492 24 Jul 2023 31 Jul 2023 31 Aug 2023 27 Oct 2023 In Person N/A

Responsible Officer: Registrar, Student Administration / Page Contact: Website Administrator / Frequently Asked Questions