Artificial Intelligence in Robotics

Vztahy:

Předmět BE4M36UIR může při kontrole studijních plánů nahradit předmět B4M36UIR

Předmět BE4M36UIR nesmí být zapsán, je-li v témže semestru zapsán anebo již dříve absolvován předmět B4M36UIR (vztah je symetrický)

Předmět BE4M36UIR nesmí být zapsán, je-li v témže semestru zapsán anebo již dříve absolvován předmět B4M36UIR (vztah je symetrický)

Garant předmětu:

Přednášející:

Cvičící:

Předmět zajišťuje:

katedra počítačů

Anotace:

The course aims to acquaint students with the use of planning approaches and decision-making techniques of artificial intelligence for solving problems arising in autonomous robotic systems. Students in the course are employing knowledge of planning algorithms, game theory, and solving optimization problems in selected application scenarios of mobile robotics. Students first learn architectures of autonomous systems based on reactive and behavioral models of autonomous systems. The considered application scenarios and robotic problems include path planning, persistent environmental monitoring, robotic exploration of unknown environments, online real-time decision-making, deconfliction in autonomous systems, and solutions of antagonistic conflicts. In laboratory exercises, students practice their problem formulations of robotic challenges and practical solutions in a realistic robotic simulator or consumer mobile robots.

Tento předmět je také součástí meziuniverzitního programu prg.ai Minor. Ten spojuje to nejlepší z výuky AI v Praze s cílem poskytnout studujícím hlubší a širší vhled do oboru umělé inteligence. Více informací je k dispozici na webu https://prg.ai/minor.

Požadavky:

Osnova přednášek:

1. Course information, introduction to robotics

2. Robotic paradigms and control architectures

3. Path planning - grid and graph-based path planning methods

4. Robotic information gathering - Mobile robot exploration

5. Multi-goal path planning

6. Data collection planning

7. Curvature-constrained data collection planning

8. Randomized sampling-based motion planning methods

9. Visibility based pursuit-evasion games

10. Patrolling games

11. Temporal task-motion planning

12. Multi-robot planning

13. Reserve (invited lecture of a guest host)

14. Reserve (invited lecture of a guest host)

Osnova cvičení:

During laboratory exercises, students practice robotic challenges and practical solutions in a realistic robotic simulator or mobile robots.

- Computational models of autonomous systems;

- Path planning, randomized search techniques, multi-goal path planning, and informative path planning;

- Robotic exploration, online decision-making, persistent environmental monitoring, decision-making with limited resources;

- Methods of game theory and safety games in mobile robotics tasks, solving antagonistic conflict;

- Reactive and behavioral models in tasks of collective robotics;

- Coordination and cooperation in autonomous systems;

1. Introduction to CoppeliaSim and open-loop robot locomotion control

2. Exteroceptive sensing and reactive-based obstacle avoidance

3. Mapping

4. Grid and graph-based path planning

5. Incremental path planning

6. Mobile robot exploration

7. Semestral project assignment

8. Data collection path planning with remote sensing (TSPN)

9. Curvature-constrained data collection path planning (DTSPN)

10. Randomized sampling-based algorithms

11. Curvature-constrained local planning with RRT-based algorithms

12. Pursuit evasion - greedy policy and value iteration policy

13. Area patrolling

14. Semestral project discussion

Cíle studia:

The goal of the course is to developed practical experience with the deployment of planning and optimization methods in robotics states. The hands-off experience supports the practical understanding limitations of physical systems. After completing the course, the students should understand that problems with real robots need to make sufficient simplifications yielding satisfactory solutions but still be computationally feasible.

Studijní materiály:

Course materials - https://cw.fel.cvut.cz/wiki/courses/uir/start

1st chapter: Robin R. Murphy: Introduction to AI Robotics, MIT Press, Cambridge, MA, 2001

Steven M. LaValle: Planning Algorithms, Cambridge University Press, 2006 (http://planning.cs.uiuc.edu )

Maja J. Mataric: The Robotics Primer, 2007, MIT Press.

Kevin M. Lynch, Frank C. Park: Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017.

Poznámka:

Další informace:

https://cw.fel.cvut.cz/wiki/courses/uir/

Pro tento předmět se rozvrh nepřipravuje

Předmět je součástí následujících studijních plánů:

• Open Informatics - Artificial Intelligence (povinný předmět oboru)
• prg.ai/minor-tech (volitelný předmět)
• Cybernetics and Robotics (povinně volitelný předmět)