19304701 Lecture

WiSe 21/22: 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:


John J Craig: Introduction to Robotics: Mechanics and Control; Steven LaValle: Planning Algorithms; Sebastian Thrun, Wolfram Burgard, Dieter Fox: Probabilistic Robotics

 

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16 Class schedule

Additional appointments

Mon, 2022-02-14 08:00 - 10:00
Klausur

Location:
Virtueller Raum 01

Mon, 2022-02-14 08:00 - 10:00
Klausur
Mon, 2022-04-25 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

Location:
T9/055 Seminarraum (Takustr. 9)

Wed, 2022-04-27 10:00 - 12:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

Location:
A3/ 024 Seminarraum (Arnimallee 3-5)

Regular appointments

Mon, 2021-10-18 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-10-25 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-11-01 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-11-08 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-11-15 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-11-22 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-11-29 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-12-06 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2021-12-13 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-01-03 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-01-10 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-01-17 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-01-24 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-01-31 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-02-07 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-02-14 08:00 - 10:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Subjects A - Z