19304701 Lecture

WiSe 15/16: Robotics

Daniel Göhring

Information for students

Übungen siehe 19304702. Zur Veranstaltungsseite im KVV (Zedat-login)

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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.

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Comments

Kommentar

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

Literature:

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

Lecturers:
Prof. Dr. Daniel Göhring

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

Tue, 2016-02-09 12:00 - 14:00
Klausur

Lecturers:
Prof. Dr. Daniel Göhring

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

Wed, 2016-04-06 12:00 - 14:00
Nachklausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
SR 031/A7 (Arnimallee 7)

Regular appointments

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

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-11-02 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-11-09 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-11-16 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-11-23 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-11-30 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-12-07 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2015-12-14 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-01-04 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-01-11 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-01-18 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-01-25 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-02-01 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-02-08 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Subjects A - Z