19304701 Lecture

SoSe 19: Robotics

Daniel Göhring

Additional information / Pre-requisites

Students interested in robotics with application to autonomous vehicles. Voraussetzungen: As a prerequisite, student should have basic knowledge of maths, in particular linear algebra and a bit of optimization. Students will work with a real model car in the robotics lab.

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Comments

Content

This class will give an introduction to robotics. It will be structured into the following parts:

  • Generating motion and and dynamic control: This chapter will cover coordinate frames, non-holonomic constraints, Ackermann-drive (in analogy to street cars), PID.
  • Planning: Planning around obstacles, path finding, Dijkstra, A*, configuration space obstacles, RRTs, lattice planners, gradient methods, potential fields, splines.
  • Localization and mapping: state estimation problem, Bayesian filter, Odometry, Particle & Kalman filter, Extended and Unscented Kalman-Filter, simultaneous localization and mapping (SLAM).
  • Vision and perception: SIFT, HOG-features, Deformable parts models, hough transform, lane detection, 3d-point clouds, RANSAC .

After these lectures, students will be able to design basic algorithms for motion, control and state estimation for robotics.

The lecture will be in German, accompanying materials in English.

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Suggested reading

Literatur:

Bruno Siciliano, Oussama Khatib: Handbook of Robotics (partially online at Googlebooks) Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani: Robotics: modelling, planning and control Steven LaValle: Planning Algorithms Sebastian Thrun, Wolfram Burgard, Dieter Fox: Probabilistic Robotics

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19 Class schedule

Additional appointments

Mon, 2019-09-02 08:00 - 10:00
Klausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
A3/Hs 001 Hörsaal (Arnimallee 3-5)

Tue, 2019-10-08 08:00 - 10:00
Nachklausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Regular appointments

Mon, 2019-08-12 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Tue, 2019-08-13 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Wed, 2019-08-14 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Thu, 2019-08-15 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Fri, 2019-08-16 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Mon, 2019-08-19 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Tue, 2019-08-20 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Wed, 2019-08-21 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Thu, 2019-08-22 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Fri, 2019-08-23 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Mon, 2019-08-26 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Tue, 2019-08-27 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Wed, 2019-08-28 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Thu, 2019-08-29 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Fri, 2019-08-30 10:00 - 12:00

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/SR 006 Seminarraum (Takustr. 9)

Tue, 2019-08-13 10:00 - 12:00

Location:
T9/SR 005 Übungsraum (Takustr. 9)

Wed, 2019-08-14 10:00 - 12:00

Location:
T9/SR 005 Übungsraum (Takustr. 9)

Thu, 2019-08-15 10:00 - 12:00

Location:
T9/SR 005 Übungsraum (Takustr. 9)

Fri, 2019-08-16 10:00 - 12:00

Location:
T9/SR 005 Übungsraum (Takustr. 9)

Subjects A - Z