19304701 Lecture

WiSe 22/23: 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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18 Class schedule

Additional appointments

Mon, 2023-02-13 12:00 - 14:00
Klausur

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-03-27 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

Location:
A7/SR 140 Seminarraum (Hinterhaus) (Arnimallee 7)

Mon, 2023-03-27 12:00 - 14:00
Robotik

Location:
A6/SR 007/008 Seminarraum (Arnimallee 6)

Regular appointments

Mon, 2022-10-24 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-10-31 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-11-07 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-11-14 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-11-21 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-11-28 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-12-05 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-12-12 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-12-19 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2022-12-26 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-01-02 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-01-09 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-01-16 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-01-23 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-01-30 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Mon, 2023-02-06 12:00 - 14:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

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

Thu, 2023-02-23 09:00 - 16:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

Location:
A6/SR 007/008 Seminarraum (Arnimallee 6)

Fri, 2023-02-24 09:00 - 16:00
Robotik

Lecturers:
Prof. Dr. Daniel Göhring

Location:
A6/SR 007/008 Seminarraum (Arnimallee 6)

Subjects A - Z