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183.660 Mobile Robotics
This course is in all assigned curricula part of the STEOP.
This course is in at least 1 assigned curriculum part of the STEOP.

2021S, VU, 3.0h, 4.5EC
TUWEL

Properties

  • Semester hours: 3.0
  • Credits: 4.5
  • Type: VU Lecture and Exercise
  • Format: Distance Learning

Learning outcomes

After successful completion of the course, students are able to develop software components for autonomous mobile vehicles.The acquired competence enables the participants to realize filtering techniques especially for self-localization and path planning as well as to create nodes for the Robot Operating System (ROS).

The LVA will take place online via Zoom. Meeting ID: 944 8657 7943
After the first session, the tutors and the instructor will provide installation assistance for the software environment via Zoom.
Alle Teilnehmer müssen sich im TISS zur LVA anmelden, um Zugang zum TUWEL Kurs zu erhalten.

Subject of course

  • Behaviour Based Robotics (Breitenberg Vehicles)
  • Sensors (Laser Scanner)
  • Motion Model (Differential Drive)
  • Mapping and Map Representation
  • Self-localization:
    - Discrete Filter
    - Particle Filter
    - Extended Kalman Filter 
  • SLAM
    - Fast-SLAM
    - Kalman based SLAM
  • Planing
    - Local Planning (DWA, ...)
    - Global Planning (A*)

Workload estimation  (ECTS Breakdown): 112,5 Stunden = 4,5 ECTS

  • Lecture time + exam (20 Stunden)
  • Exercises (80 Stunden)
  • Preperation for exam (12,5 Stunden)

 

Teaching methods

The course consists of a theoretical and a practical (C++) part.

Mode of examination

Oral

Additional information

Video: Particle filter for self-localization in a stage enviroment


Screenshot of an implemented particle fitler and the simulation used with in the course.

 

Lecturers

Institute

Course dates

DayTimeDateLocationDescription
Wed10:00 - 12:0003.03.2021 - 30.06.2021 Online (LIVE)Lecture
Mobile Robotics - Single appointments
DayDateTimeLocationDescription
Wed03.03.202110:00 - 12:00 OnlineLecture
Wed10.03.202110:00 - 12:00 OnlineLecture
Wed17.03.202110:00 - 12:00 OnlineLecture
Wed24.03.202110:00 - 12:00 OnlineLecture
Wed14.04.202110:00 - 12:00 OnlineLecture
Wed21.04.202110:00 - 12:00 OnlineLecture
Wed28.04.202110:00 - 12:00 OnlineLecture
Wed05.05.202110:00 - 12:00 OnlineLecture
Wed12.05.202110:00 - 12:00 OnlineLecture
Wed19.05.202110:00 - 12:00 OnlineLecture
Wed26.05.202110:00 - 12:00 OnlineLecture
Wed02.06.202110:00 - 12:00 OnlineLecture
Wed09.06.202110:00 - 12:00 OnlineLecture
Wed16.06.202110:00 - 12:00 OnlineLecture
Wed23.06.202110:00 - 12:00 OnlineLecture
Wed30.06.202110:00 - 12:00 OnlineLecture

Examination modalities

The theoretical part of the course is examined orally at the end of the course, while the practical part, consisting of 5-6 exercises, is assessed regularly.

Course registration

Begin End Deregistration end
22.02.2021 12:00 18.03.2021 12:00 18.03.2021 12:00

Curricula

Literature

Probabilistic Robotics (2005)
Sebastian Thrun, Wolfram Burgard, Dieter Fox

LVA: Introduction to Mobile Robotics (2014)
http://ais.informatik.uni-freiburg.de/teaching/ss14/robotics/
Wolfram Burgard, Maren Bennewitz, Gian Diego Tipaldi, Luciano Spinello

Introduction to Autonomous Mobile Robots (2011)
Roland Siegwart, Illah Reza Nourbakhsh, Davide Scaramuzza

Principles of Robot Motion: Theory, Algorithms, and Implementations (2005)
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun

Continuative courses

Language

English