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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2019/2020

Mobile and Collective Robotics

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Code Completion Credits Range Language
BE3M33MKR Z,ZK 6 2P+2L
Corequisite:
Safety in Electrical Engineering for a master´s degree (BEEZM)
The course cannot be taken simultaneously with:
Mobile and Collective Robotics (A3M33MKR)
Mobile and Collective Robotics (B3M33MKR)
The course is a substitute for:
Mobile and Collective Robotics (B3M33MKR)
Lecturer:
Miroslav Kulich, Libor Přeučil (guarantor)
Tutor:
Libor Přeučil (guarantor), Gaël Pierre Marie Ecorchard, Karel Košnar
Supervisor:
Department of Cybernetics
Synopsis:

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.

Requirements:

B3M33ARO/BE3M33ARO (Autonomous Robotics)

Syllabus of lectures:

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.

Syllabus of tutorials:

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.

Study Objective:

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.

Study materials:

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.

Note:
Further information:
http://cw.fel.cvut.cz/wiki/courses/ae3m33mkr/start
Time-table for winter 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
Tue
Fri
roomKN:E-126
Přeučil L.
Kulich M.

11:00–12:30
(lecture parallel1)
Karlovo nám.
Trnkova posluchárna K5
roomKN:E-230
Ecorchard G.
Košnar K.

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

Karlovo nám.
Laboratoř PC
roomKN:E-130
Ecorchard G.
Košnar K.

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

Karlovo nám.
Laboratoř IMR
Thu
Fri
Time-table for summer semester 2019/2020:
Time-table is not available yet
The course is a part of the following study plans:
Data valid to 2019-09-16
For updated information see http://bilakniha.cvut.cz/en/predmet4682006.html