19304701 Lecture

WiSe 14/15: Robotics

Daniel Goehring

Comments

Übungen siehe 19304702

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, kinematic chains, inverse kinematics, Jacobian, singularities, holonomic constraints, Ackermann-drive, PID, Newton-Euler.
  • 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

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Suggested reading

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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14 Class schedule

Additional appointments

Mon, 2015-02-09 08:00 - 10:00
Klausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
Gr. Hörsaal\Taku 9 (Takustr. 9)

Mon, 2015-03-30 10:00 - 12:00
Nachklausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
SR 031/A7 (Arnimallee 7)

Regular appointments

Mon, 2014-10-20 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-10-27 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-11-03 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-11-10 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-11-17 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-11-24 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-12-01 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-12-08 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2014-12-15 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-01-05 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-01-12 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-01-19 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-01-26 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-02-02 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Subjects A - Z