Introduction to Mobile Robotics (engl.) - Autonomous Mobile Systems

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:

Exam: Oral exams on Friday, 29th July 2005.
Please contact Susanne Bourjaillat (Room 079-1011, Tel 203-8006, e-mail subo@informatik.uni-freiburg.de)
for an appointment. Please supply your student number, if you contact us by e-mail.



Slides

  1. Introduction (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  2. Locomotion (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  3. Sensors (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  4. Bayes Filters (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  5. Probabilistic Motion Models (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  6. Probabilistic Sensor Models (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  7. Bayes Filter Implementations (Particle Filters) (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  8. Bayes Filter Implementations (Discrete Filters) (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  9. Bayes Filter Implementations (Gaussian Filters) (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  10. Mapping with Known Poses (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  11. Landmark-based FastSLAM (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  12. Grid-based FastSLAM (PDF, PDF: 4 on 1)
  13. EKF-based SLAM (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  14. Iterative Closest Point Algorithm (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  15. Path Planning and Collision Avoidance (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  16. Coordinated Multi-Robot Exploration (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  17. Information Gain-based Exploration Using Rao-Blackwellized Particle Filters (PS, PDF, PS: 4 on 1, PDF: 4 on 1)
  18. Architectures (PS, PDF, PS: 4 on 1, PDF: 4 on 1)

Exercises

  1. Exercise sheet 1 (PS, PDF)
  2. Exercise sheet 2 (PS, PDF)
  3. Exercise sheet 3 (PS, PDF)
    1. Example solution for execise 2
  4. Exercise sheet 4 (PS, PDF)
  5. Exercise sheet 5 (PS, PDF)
    1. DiscreteFilter.java (Java template for exercise 2)
    2. input.txt
    3. input2.txt
  6. Exercise sheet 6 (PS, PDF)
  7. Exercise sheet 7 (PS, PDF)
    1. Mapper.java (Java template for exercise 2)
    2. input.txt
    3. plot.gp (gnuplot visualization script)
    4. colorpts.awk (awk script for pm3d point conversion)
  8. Exercise sheet 8 (PS, PDF)
  9. Exercise sheet 9 (PS, PDF)
  10. Exercise sheet 10 (PS, PDF)

Additional Material