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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2018/2019

Autonomous Robotics

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Code Completion Credits Range Language
BE3M33ARO Z,ZK 7 3p+2l
Corequisite:
Safety in Electrical Engineering for a master´s degree (BEEZM)
The course cannot be taken simultaneously with:
Intelligent robotics (AE3M33IRO)
Intelligent robotics (A3M33IRO)
Autonomous Robotics (B3M33ARO)
The course is a substitute for:
Intelligent robotics (AE3M33IRO)
Intelligent robotics (A3M33IRO)
Autonomous Robotics (B3M33ARO)
Lecturer:
Václav Hlaváč (guarantor), Karel Zimmermann
Tutor:
Václav Hlaváč (guarantor), Ondřej Holešovský, 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/b182/courses/aro/start
Time-table for winter semester 2018/2019:
Time-table is not available yet
Time-table for summer semester 2018/2019:
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
Hlaváč V.
Zimmermann K.

10:00–12:30
(lecture parallel1)
Karlovo nám.
Zengerova posluchárna K1
roomKN:E-132
Holešovský O.
Petříček T.

14:30–16:00
(lecture parallel1
parallel nr.101)

Karlovo nám.
Laboratoř PC
Tue
roomKN:E-132
Škoviera R.
Šalanský V.

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

Karlovo nám.
Laboratoř PC
Fri
Thu
Fri
The course is a part of the following study plans:
Data valid to 2019-03-21
For updated information see http://bilakniha.cvut.cz/en/predmet4681906.html