19304701 Lecture

WiSe 16/17: Robotik

Daniel Göhring

Information for students

Übungen siehe 19304702.

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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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, 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

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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13 Class schedule

Additional appointments

Mon, 2017-02-13 08:00 - 10:00
Klausur

Lecturers:
Prof. Dr. Daniel Göhring

Location:
0.1.01 Hörsaal B (Arnimallee 14)

Mon, 2017-03-20 10:00 - 12:00
Nachklausur

Lecturers:
Prof. Dr. Daniel Göhring

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

Regular appointments

Mon, 2016-10-24 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-10-31 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-11-07 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-11-14 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-11-21 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-11-28 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-12-05 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2016-12-12 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2017-01-09 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2017-01-16 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2017-01-23 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2017-01-30 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2017-02-06 08:00 - 10:00

Lecturers:
Prof. Dr. Daniel Göhring

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

Subjects A - Z