Introduction to Mobile Robotics - SS 2015 (original) (raw)
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Introduction to Mobile Robotics (engl.) - Autonomous Mobile Systems
This course will introduce basic concepts and techniques used within the field of mobile robotics. We analyze the fundamental challenges for autonomous intelligent systems and present the state of the art solutions. Among other topics, we will discuss:
- Kinematics,
- Sensors,
- Vehicle localization,
- Map building,
- SLAM,
- Path planning,
- Exploration of unknown terrain
- Lecturers: Prof. Dr. Wolfram Burgard,Dr. Gian Diego Tipaldi
- Co-organizers:Ayush Dewan,Martina Deturres,Tayyab Naseer,Tim Caselitz
- Lecture: Wed 14.00-16.00 / Fri 14.00-15.00, Room: Geb. 101 - SR 01-009/13
- Exercises: Fri 15.00-16.00, Room: Geb. 101 - SR 01-009/13 (Group 1), HS 00 026 µ (Group 2)
Lectures
| Lecture | Dates | Topic | Slides | Recordings |
|---|---|---|---|---|
| 00 | 22-04-2015 | Introduction | MP4 | |
| 01 | 24-04-2015 | Linear Algebra | MP4 | |
| 02 | 29-04-2015 | Robot Control Paradigms | MP4 | |
| 03 | 29-04-2015 | Wheeled Locomotion | MP4 | |
| 04 | 06-05-2015 | Proximity Sensors | MP4 | |
| 05 | 06-05-2015 08-05-2015 13-05-2015 | Probabilistic Robotics | MP4 MP4 MP4 | |
| 06 | 15-05-2015 20-05-2015 | Probabilistic Motion Models | MP4 MP4 | |
| 07 | 20-05-2015 22-05-2015 | Probabilistic Sensor Models | MP4 MP4 | |
| 08 | 03-06-2015 | Bayes Filter - Discrete Filters | MP4 | |
| 09 | 03-06-2015 05-06-2015 | Bayes Filter - Particle Filter and MCL | MP4 MP4 | |
| 10 | 10-06-2015 | Bayes Filter - Kalman Filter | MP4 | |
| 11 | 10-06-2015 | Bayes Filter - Extended Kalman Filter | MP4 | |
| 12 | 12-06-2015 17-06-2015 | Grid Maps and Mapping With Known Poses | MP4 MP4 | |
| 13 | 17-06-2015 | SLAM - Simultaneous Localization and Mapping | MP4 | |
| 14 | 19-06-2015 | SLAM - Landmark-based FastSLAM | MP4 | |
| 15 | 24-06-2015 | SLAM - Grid-based FastSLAM | MP4 | |
| 16 | 26-06-2015 | SLAM - Graph-based SLAM | MP4 | |
| 17 | 01-07-2015 | Techniques for 3D Mapping | MP4 | |
| 18 | 01-07-2015 03-07-2015 | Iterative Closest Point Algorithm | MP4 MP4 | |
| 19 | 03-07-2015 08-07-2015 10-07-2015 | Path and Motion Planning | MP4 MP4 MP4 | |
| 20 | 15-07-2015 | Multi-Robot Exploration | MP4 | |
| 21 | 15-07-2015 17-07-2015 | Information Driven Exploration | MP4 | |
| 22 | 22-07-2015 | Summary |
Exercises
Solving and submitting the exercise sheets is recommended but not mandatory to be admitted to the final exam. There are no bonus points.
The exercises should be solved in groups of two students. Submit a single tar/zip file with all codes, scripts and a single pdf with all answers (programs and figures).
In general, assignments will be published on Friday and have to be submitted the following Thursday before midnight. Submit programming exercises via email to mobilerobotics@informatik.uni-freiburg.de
During the exercise class the solutions will be discussed. Decide if you prefer to use Octave or Python and join the corresponding exercise group. Please adhere to your initial choice.
Octave: Group 1 - Room: SR 01-009/13 - Organized by: Ayush Dewan, Martina Deturres
Python: Group 2 - Room: HS 00 026 µ - Organized by: Tayyab Naseer, Tim Caselitz
Join this forum for discussing questions on exercises and lectures
https://groups.google.com/forum/#!forum/ais_introtorobotics15
| Sheet | Deadline | Topic | Octave | Python | Download |
|---|---|---|---|---|---|
| 01 | 30-04-2015 | Setup Octave / Python | |||
| 02 | 07-05-2015 | Linear Algebra, Locomotion, Sensing | laserscan.dat | ||
| 03 | 14-05-2015 | Locomotion, Bayes Rule | |||
| 04 | 28-05-2015 | Sampling, Motion Models | |||
| 05 | 11-06-2015 | Sensor Models | |||
| 06 | 18-06-2015 | Discrete Filter, Particle Filter | pf_framework_octave.tar.gz pf_framework_python.tar.gz | ||
| 07 | 25-06-2015 | Extended Kalman Filter | ekf_framework_octave.tar.gz ekf_framework_python.tar.gz | ||
| 08 | 02-07-2015 | Mapping with Known Poses | |||
| 09 | 09-07-2015 | Simultaneous Localization and Mapping | |||
| 10 | 16-07-2015 | FastSLAM | fastslam_framework_octave.tar.gz fastslam_framework_python.tar.gz | ||
| 11 | 23-07-2015 | Iterative Closest Point Algorithm and Recapitulation | icp_framework_octave.tar.gz icp_framework_python.tar.gz |