Introduction to mobile robotics

Dr. Miroslav Kulich : Miroslav Kulich is currently an assistant professor at the Czech Institute of Informatics, Cybernetics, and Robotics, Czech Technical University (C TU) in Prague. He received the Ph.D. degree in Artificial Intelligence and Biocybernetics at CTU in Prague, and RNDr. degree at Charles University in Prague, Faculty of Mathematics and Physics. He also spent 6 months at research fellowship at Helsinki University of Technology, Automation Technology Laboratory, Finland. Miroslav Kulich is an author or co-author of more than 50 publications at international conferences, 6 articles in impacted journals, 1 book, an editor of European Robotics Symposium (EUROS 2008) proceedings and he received two Best Paper Awards (EMCSR 2010, MESAS 2015). He serves as a reviewer for several impacted journals as well as a program committee member of relevant international conferences. His research interests include planning for single and multi-robot systems, especially in exploration and search&rescue scenarios.

Syllabus

The course deals with a description of an elementary structure of a cognitive mobile robot, its sensors, features and mainly with analysis of fundamental tasks in mobile robotics. Approaches to sensor processing, data fusion and world modeling will be discusses as well as problems of path planning, localization and SLAM (Simultaneous Localization and Mapping). The students will learn what are the biggest problems of programming cognitive mobile robot and fundamental methods how to solve these problems. [Optionally (this can be done if you can provide a room with linux machines with Player-Stage installed): The course will be ended up in labs, where students will separately solve a simple task in a Player/Stage simulator.

Recommended literature

S. Thrun, W. Burgard, and D. Fox: //Probabilistic Robotics//. MIT Press, Cambridge, MA, 2005 (http://www.probabilistic-robotics.org/ ).

A. Kelly: //Mobile Robotics: Mathematics, Models, and Methods//. Cambridge University Press, 2013.

H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, S. Thrun: Principles of //Robot Motion: Theory, Algorithms, and Implementations// (Intelligent Robotics and Autonomous Agents series), MIT Press, 2005.

S. Lavalle: //Planning Algorithms//, Cambridge University Press, 2006 (http://planning.cs.uiuc.edu/ ).

Borenstein, J., Everett, B., and Feng, L.: //Navigating Mobile Robots: Systems and Techniques// A. K. Peters, Ltd., Wellesley, MA, ISBN 1-56881-058-X, 1996.

Dudek, G., Jenkin, M.: //Computation Principles of Mobile Robotics//, Cambridge University, Press, ISBN 0521560217, 2000.

Monday

intro-I.pdf
mapping.pdf

Tuesday

planning-I.pdf
planning-II.pdf
planning-III.pdf

Wednesday

localization-I.pdf
localization-II.pdf

Thursday

Player/Stage
ps_proxies.pdf
SyRoTek - Braitenberg vehicle avoiding obstacles.mp4
SyRoTek-Wall_following.mp4

Friday

"I was inspired by many people when I prepared my slides and I used images from their presentations: S. Thrun, W. Burgard, H. Choset, G.D. Hager, Z. Dodds, D. Mocha and others. I would like to thank them and apologize to those I didn't mention, sometimes it was difficult to find the original source of a particular image."

Player/Stage Installation Manual

https://syrotek.felk.cvut.cz/data/files/ps_install.pdf