Subject description - B3M33MKR

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B3M33MKR Mobile and Collective Robotics
Roles:PO, PV Extent of teaching:2P+2L
Department:13133 Language of teaching:CS
Guarantors:Přeučil L. Completion:Z,ZK
Lecturers:Kulich M., Přeučil L. Credits:6
Tutors:Ecorchard G., Košnar K., Přeučil L. Semester:Z

Anotation:

The course introduces a basic mobile robot structure design together with control methods aimed to achieve autonomous and collective behaviors for robots. Methods and tool s for data acquisition and processing are presented herein with the overall goal to resolve the task of autonomous navigation for mobile robots comprising the tasks of sensor fusion, environmental modeling including Simultaneous Localization And Mapping (SLAM) approaches. Besides sensor-processing related tasks, methods for robot trajectory planning will be introduced. The central topic of the course stands in specific usage of the afore methods capable of execution with groups of robots and taking the advantage of their cooperation and coordination in groups. Labs and seminars are organized in a form of an Open Laboratory whereas the students will implement some fundamental algorithms and study their properties on real data.

Study targets:

The aim of the course is to introduce an elementary structure of intelligent mobile robots. Moreover, fundamental problems of robot control and realization of autonomous behavior of one robot as well as a group of several robots are introduced.

Course outlines:

1. Taxonomy of the localization problem. Continuous localization.
2. Probabilistic methods of localization 1 - Bayes filter
3. Probabilistic methods of localization 2 - KF, EKF, particle filter
4. Simultaneous localization and mapping (SLAM): EKF, PF, Rao-Blackwell
5. Graph SLAM.
6. Sensors used in mobile robotics.
7. Environment representation and modeling for mobile robotics (fundamental approaches, space decomposition, graph-based and hierarchical representations, occupancy grids)
8. Environment representation and path planning (overview, selection of an appropriate model and planning method, hierarchical planning, configuration space)
9. Probabilistic and special planning approaches (RRT, potential fields)
10. Planning under uncertainty (MDP, POMDP)
11. Multi-robot systems, aspects of their design, cooperation, coordination, communication.
12. Localization in multi-robot teams.
13. Processing of 3D information.
14. Current problems and challenges in mobile robotics.

Exercises outline:

1. Labs organization, transformations
2. Iterative Closest Point (ICP)
3. Individual work (ICP) and consultation.
4. Individual work (ICP) and consultation.
5. Kalman filter (KF+EKF)
6. Individual work (KF+EKF) and consultation.
7. Particle filter (PF) and consultation
8. Individual work (PF) and consultation.
9. Individual work (PF) and consultation.
10. Individual work (PF) and consultation.
11. Rapidly Exploring Random Trees (RRT)
12. Individual work (RRT) and consultation.
13. Individual work (RRT) and consultation.
14. Individual work (RRT), grading.

Literature:

R. Siegwart, I.R.Nourbakhsh, D.scaramuzza: Introduction to Autonomous Mobile Robots, MIT press, 2011.
S. Thrun, W.Burgard, D. Fox: Probabilistic Robotics. MIT press, 2005.
S. M.LaValle: Planning Algorithms. Cambridge University Press, 2006.
A. Kelly: Mobile Robotics: Mathematics, Models, and Methods. Cambridge University Press, 2013.
H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, S. Thrun: Principles of Robot Motion: Theory, Algorithms, and Implementations (Intelligent Robotics and Autonomous Agents series), MIT Press, 2005.

Requirements:

B3M33ARO/BE3M33ARO (Autonomous Robotics)

Webpage:

https://cw.fel.cvut.cz/wiki/courses/B3M33MKR

Keywords:

mobilní robot, systémy více robotů, SLAM

Subject is included into these academic programs:

Program Branch Role Recommended semester
MPKYR3_2016 Systems and Control PV 3
MPKYR1_2016 Robotics PO 3
MPKYR4_2016 Aerospace Systems PV 3
MPKYR2_2016 Sensors and Instrumentation PV 3
MPKYR5_2016 Cybernetics and Robotics PV 3


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)