Introduction to Mobile Robotics
Co-Organizers:
Dr. Daniel Büscher, Dr. Lukas Luft, Johannes Meyer, Chenguang Huang
This course will introduce basic concepts and techniques used within the field of mobile robotics. We analyze the fundamental challenges for autonomous intelligent systems and present the state of the art solutions. Among other topics, we will discuss kinematics, sensors, vehicle localization, map building, SLAM, and path planning.
| Time: | Monday, 10:00 c.t. – 12:00 First meeting on April 25, 2022. |
| Location: | This course will be held in a hybrid format. Weekly flipped classroom sessions will be held in-person at Building 101, SR 00-010/14 and via Zoom. See ILIAS for Zoom meeting password. |
| Learning Platform: | ILIAS |
| Remarks: | Due to the Covid-19 crisis, the lecture will be offered in a hybrid format. Those in Freiburg can attend the flipped classroom and exercise sessions in-person and those who are out of town can attend via Zoom. Video lectures and exercises will be uploaded to ILIAS one week before the day of the lecture. Please watch the lecture and start working on the exercises. You may post questions on the lecture by inserting comments in the video page or post questions about the exercises in the forum. We will then have a Q&A; session in the week of the lecture where all the questions will be discussed. |
Course Overview
The course will be taught in english and will follow a flipped classroom approach.
Every week there will be:
- a video lecture
- an exercise sheet
- a flipped classroom session (hybrid format - in-person/via zoom, Monday, 10:00 c.t. – 12:00)
- a exercise session (hybrid format - in-person/via zoom, Wednesday, 12:00 c.t. – 14:00, Building 101, SR 00-010/14)
The exam is WRITTEN for most students, except for bachelor students of computer science with Prüfungsordnung 2012.
All learning material including video lectures, slides, and exercises can be found on ILIAS
Lectures
The course will be taught in english and will follow a flipped classroom approach.
| Lecture | Dates | Topic |
| 00 | 25-04-2022 | Introduction |
| 01 | 02-05-2022 | Linear Algebra |
| 02 | 09-05-2022 | Robot Control Paradigms |
| 03 | 09-05-2022 | Wheeled Locomotion |
| 04 | 09-05-2022 | Proximity Sensors |
| 05 | 16-05-2022 | Probabilistic Robotics |
| 06 | 23-05-2022 | Probabilistic Motion Models |
| 07 | 30-05-2022 | Probabilistic Sensor Models |
| 08 | 13-06-2022 | Bayes Filter - Discrete Filters |
| 09 | 13-06-2022 | Bayes Filter - Particle Filter and MCL |
| 10 | 20-06-2022 | Bayes Filter - Kalman Filter |
| 11 | 20-06-2022 | Bayes Filter - Extended Kalman Filter |
| 12 | 27-06-2022 | Grid Maps and Mapping With Known Poses |
| 13 | 04-07-2022 | SLAM - Simultaneous Localization and Mapping |
| 14 | 04-07-2022 | SLAM - Landmark-based FastSLAM |
| 15 | 11-07-2022 | SLAM - Grid-based FastSLAM |
| 16 | 11-07-2022 | SLAM - Graph-based SLAM |
| 17 | 18-07-2022 | Techniques for 3D Mapping |
| 18 | 18-07-2022 | Iterative Closest Point Algorithm |
| 19 | 25-07-2022 | Path and Motion Planning |
| 20 | 01-08-2022 | Multi-Robot Exploration |
| 21 | 01-08-2022 | Information Driven Exploration |
| 22 | 01-08-2022 | Summary |
Exercises
Each exercise session consists of two parts: answering open questions on the lecture and the discussion of the exercise sheets.
Solving the exercise sheets is recommended but not mandatory to be admitted to the final exam. There are no bonus points.
Exercise sheets will be published one week before the discussion session. We strongly encourage you to solve the exercise sheets beforehand to benefit from the discussions in class.
Questions?
If you have a question, please post it in the ILIAS forum (so everyone can benefit from the answer). Alternatively, you can also email mobilerobotics@cs.uni-freiburg.de