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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2019/2020

Autonomous Robotics

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Code Completion Credits Range Language
B3M33ARO Z,ZK 7 3P+2L Czech
Corequisite:
The course cannot be taken simultaneously with:
Intelligent robotics (AE3M33IRO)
Lecturer:
Karel Zimmermann (guarantor), Václav Hlaváč (guarantor), Vojtěch Vonásek
Tutor:
Karel Zimmermann (guarantor), Václav Hlaváč (guarantor), Robert Pěnička, Tomáš Petříček, Vojtěch Šalanský, Radoslav Škoviera
Supervisor:
Department of Cybernetics
Synopsis:

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.

Requirements:
Syllabus of lectures:

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.

Syllabus of tutorials:

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.

Study Objective:
Study materials:

1. Siciliano, Bruno and Sciavicco, Lorenzo and Villani, Luigi and Oriolo, Giuseppe: Robotics, Modelling,

Planning and Control, Springer 2009

2. Fahimi, F.: Autonomous Robots: Modeling, Path Planning, and Control, Springer 2009

Note:
Further information:
https://cw.fel.cvut.cz/wiki/courses/aro
Time-table for winter semester 2019/2020:
Time-table is not available yet
Time-table for summer semester 2019/2020:
06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
Mon
roomKN:E-107
Zimmermann K.
Hlaváč V.

10:00–12:30
(lecture parallel1)
Karlovo nám.
Zengerova posluchárna K1
Tue
Fri
Thu
roomKN:E-132
Pěnička R.
Škoviera R.

09:15–10:45
(lecture parallel1
parallel nr.101)

Karlovo nám.
Laboratoř PC
roomKN:E-132
Šalanský V.
Petříček T.

11:00–12:30
(lecture parallel1
parallel nr.102)

Karlovo nám.
Laboratoř PC
roomKN:E-132
Škoviera R.
Petříček T.

12:45–14:15
(lecture parallel1
parallel nr.103)

Karlovo nám.
Laboratoř PC
Fri
The course is a part of the following study plans:
Data valid to 2020-07-07
For updated information see http://bilakniha.cvut.cz/en/predmet4678006.html