Subject description - B3M33ARO
Summary of Study |
Summary of Branches |
All Subject Groups |
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List of Roles |
Explanatory Notes
Instructions
Planning and Control, Springer 2009
| B3M33ARO | Autonomous Robotics | ||
|---|---|---|---|
| Roles: | P, PV | Extent of teaching: | 3P+2L |
| Department: | 13133 | Language of teaching: | CS |
| Guarantors: | Hlaváč V., Zimmermann K. | Completion: | Z,ZK |
| Lecturers: | Hlaváč V., Vonásek V., Zimmermann K. | Credits: | 7 |
| Tutors: | Too many persons | Semester: | L |
Anotation:
The subject teaches principles allowing to build/explore robots perceiving surrounding world and understanding activities in it including the abilities to modify it. Various architectures of robots with cognitive abilities and their realizations will be explained. Students will experiment with cognitive robots in practical assignments. Studied material is applicable more widely while building intelligent machines.Course outlines:
| 1. | Robotics, motivation, the manipulator in industry. | |
| 2. | Autonomous robot. Robots for manipulation. Mobile robots. | |
| 3. | Robot with a camera. Geometry of the single camera and its calibration. Homography. | |
| 4. | Depth from images and other sensors. Use of depth maps. | |
| 5. | Autonomous robot, modules/tasks, representation of robot world, configuration space. | |
| 6. | Architectures of autonomous robots (deliberative, reactive, hybrid). | |
| 7. | Trajectory of a manipulator/mobile robot and its calculation.. | |
| 8. | Robot path planning, deterministic methods. | |
| 9. | Robot path planning, probabilistic methods. | |
| 10. | Simultaneous localization and mapping (SLAM). | |
| 11. | Simultaneous localization and mapping (SLAM), continuation. | |
| 12. | Force compliant robot. Tactile feedback in robotics. | |
| 13. | Manipulation tasks. Grippers. | |
| 14. | Humanoid robots. |
Exercises outline:
Exercises: laboratory tasks with autonomous robots (with robots from research projects, with the iRobot Create building set). Students will acquire datasets using robots, will solve three tasks and will demonstrate them on the robots.Literature:
| 1. | Siciliano, Bruno and Sciavicco, Lorenzo and Villani, Luigi and Oriolo, Giuseppe: Robotics, Modelling, |
| 2. | Fahimi, F.: Autonomous Robots: Modeling, Path Planning, and Control, Springer 2009 |
Requirements:
Webpage:
https://cw.fel.cvut.cz/wiki/courses/aro Subject is included into these academic programs:| Program | Branch | Role | Recommended semester |
| MPLAK_2016 | Avionics | PV | 2 |
| MPKYR3_2016 | Systems and Control | P | 2 |
| MPKYR5_2016 | Cybernetics and Robotics | P | 2 |
| MPKYR4_2016 | Aerospace Systems | P | 2 |
| MPKYR2_2016 | Sensors and Instrumentation | P | 2 |
| MPKYR1_2016 | Robotics | P | 2 |
| Page updated 26.2.2021 17:52:17, semester: Z/2020-1, L/2021-2, L/2020-1, Z/2021-2, Send comments about the content to the Administrators of the Academic Programs | Proposal and Realization: I. Halaška (K336), J. Novák (K336) |