Intelligent robotics

Lecturer:

Václav Hlaváč (gar.), Vladimír Smutný

Tutor:

Václav Hlaváč (gar.), Petr Gronát, Jan Heller, Pavel Krsek, Michal Reinštein, Oleksandr Shekhovtsov, Vladimír Smutný

Supervisor:

Department of Cybernetics

Synopsis:

The subject teaches principles allowing to build robots perceiving surrounding world and activities in it including the abilities to modify it. Various architectures of robots with cognitive abilities and their realizations will be studied. Students will experiment with robots in practical assignments. Studied material is applicable more widely while building intelligent machines.

Requirements:

Syllabus of lectures:

1. Robotics, its historic and societal grounding.

2. Robot kinematics.

3. Robot kinematics. Dynamics. Statics.

4. Different robots, their design, sensors and actuators.

5. Architectures of intelligent robots. Feedback.

6. Inertial sensors, GPS, odometry.

7. Additional sensors (senses) for intelligent robotics.

8. Visual servoing.

9. Representing surrounding world of the robot.

10. Planning in robotics. Discrete planning formalism.

11. Planning as sampling in configuration space (C-space). Planning under constraints.

12. Localization and mapping.

13. Humanoid robots.

Syllabus of tutorials:

1. Introduction to the laboratory. Homework 1 assignment.

2. Consultations, work with robots.

3. Consultations, work with robots.

4. Consultations, work with robots.

Homework 1 handover.

5. Planning tools. Homework 2 assignment.

6. Experiments with planning tasks.

7. Consultations, work with robots.

8. Written test. Consultations, work with robots.

9. Consultations, work with robots. Homework 2 handover.

10. Experiments with sensors for perception. Homework 3 assignment.

11. Consultations, work with robots.

12. Consultations, work with robots.

13. Consultations, work with robots. Homework 3 handover.

14. Written test 2. Credit.

Study Objective:

Study materials:

1. Steven M. LaValle. Planning Algorithms, Cambridge University Press, 2006, 842 s.

2. R. Pfeifer, C. Scheie. Understanding Intelligence, MIT Press, 2002.

3. B. Siciliano, O. Khatib (editoři): Handbook of Robotics, Springer-Verlag, Berlin 2008.

Note:

Time-table for winter semester 2011/2012:

Time-table is not available yet

Time-table for summer semester 2011/2012:

	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-301 Hlaváč V. Smutný V. 10:00–12:30 (lecture parallel1) Karlovo nám. Šrámkova posluchárna K9
Tue
Fri
Thu	roomKN:E-132 Krsek P. Gronát P. 09:15–10:45 (lecture parallel1 parallel nr.101) Karlovo nám. Laboratoř PCroomKN:E-132 Reinštein M. Shekhovtsov O. 11:00–12:30 (lecture parallel1 parallel nr.102) Karlovo nám. Laboratoř PCroomKN:E-132 Reinštein M. Heller J. 12:45–14:15 (lecture parallel1 parallel nr.103) Karlovo nám. Laboratoř PC
Fri

The course is a part of the following study plans:

• Kybernetika a robotika - Robotika (compulsory course in the program)
• Kybernetika a robotika - Senzory a přístrojová technika (compulsory course in the program)
• Kybernetika a robotika - Systémy a řízení (compulsory course in the program)
• Kybernetika a robotika - Letecké a kosmické systémy (compulsory course in the program)