Intelligent Robotics

The course is a substitute for:

Intelligent Robotics (E33IRO)
Intelligent Robotics (X33IRO)

Lecturer:

Tutor:

Supervisor:

Department of Cybernetics

Synopsis:

We will explain how to integrate knowledge from robotics, computer vision, and artificial intelligence to solve a non-trivial engineering task related to intelligent robotics. We will primarily pay attantion to the interplay between kinematics, visual and tactile perception, and trajectory planning based on sensoric information. Creative engineering work and its presentation in the form of a technical report will expected from students.

Requirements:

Required prerequisities are 33KUI and 33OTS. 33ROB and 33PVR are recommended.

Syllabus of lectures:

1. Content, task assignment, how to presentat results.

2. Kinematics I. - description of manipulators.

3. Kinematics II. - direct kinematics.

4. Kinematics III. - inverse kinematics.

5. Review of kinematics.

6. Computer Vision I. - camera models.

7. Computer Vision II. - in-plenar measurement using a camera.

8. Computer Vision III. - real projective plane.

9. Review of computer vision.

10. Planning I. - state space search.

11. Planning II. - admissibility of A* algorithm.

12. Planning III. - optimality of A* algorithm.

13. Review of planning.

14. Quiz.

Syllabus of tutorials:

The goal of the laboratories is to get students familiar with typical tasks which have to be solved by intelligent robots. Triples of students will solve a task related to: kinematics of a robot, the acquisition of sensoric information and to its use for cognitive feedback in order to manipulate with the robot or an autonomous vehicle. Students will present their results in the form of a technical report that will be periodically assesed in order to teach them how to solve an engineering task and how to present the solution.

1. Students solve the task

2. Students solve the task

3. Students solve the task

4. Students solve the task

5. Students solve the task, the first assesment

6. Students solve the task

7. Students solve the task

8. Students solve the task

9. Students solve the task, the second assesment

10. Students solve the task

11. Students solve the task

12. Students solve the task

13. Students solve the task

14. Students solve the task, the final assesment

Study Objective:

Study materials:

[1] Michaelson, H., B.: How to Write and Publish Engineering Papers and Reports. Isi Press, Philadelphia, USA, 1986

[2] Šonka, M., Hlaváč, V., Boyle, R.: Image Procesing, Analysis, and Machine Vision. PWS Publishing, 1998

[3] Asada, Slotine, J.-J. E.: Robot Analysis and Control. Willey-Interscience Publication, 1986

[4] Nilsson, J.: Problem-Solving Methods in Artificial Intelligence. McGraw-Hill, 1971

[5] For more information see http://cmp.felk.cvut.cz/cmp/courses/IRO/

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans:

• Computer Science and Engineering (elective course)