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Introduction to Mobile Robotics - SS 2019

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:
  • Kinematics
  • Sensors
  • Vehicle localization
  • Map building
  • SLAM
  • Path planning
  • Exploration of unknown terrain


Lectures

Lecture Dates Topic Slides Recordings
00 24-04-2019 Introduction PDF MP4
01 24-04-2019
26-04-2019
Linear Algebra PDF MP4
MP4
02 26-04-2019 Robot Control Paradigms PDF MP4
03 03-05-2019 Wheeled Locomotion PDF MP4
MP4
04 08-05-2019 Proximity Sensors PDF MP4
05 08-05-2019
10-05-2019
15-05-2019
Probabilistic Robotics PDF MP4
MP4
MP4
06 17-05-2019
22-05-2019
Probabilistic Motion Models PDF MP4
MP4
07 22-05-2019
24-05-2019
Probabilistic Sensor Models PDF MP4
MP4

Exercises

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 on Fridays and will be discussed in class one week later. We strongly encourage you to solve the exercise sheets beforehand to benefit from the discussions in class.

Send a mail to mobilerobotics@informatik.uni-freiburg.de for an appointment with one of the teaching assistants.

Sheet Due date Topic Exercise Sheet Exercise Material Solutions
00 n/a Setup Python PDF
01 03-05-2019 Linear Algebra PDF laserscan.dat PDF
02 10-05-2019 Locomotion, Differential Drive PDF PDF
03 17-05-2019 Bayes Rule PDF PDF
04 24-05-2019 Sampling, Motion Models PDF PDF
05 31-05-2019 Sensor Models PDF


Additional Material

  • Notes on one dimensional Gaussians (PDF)
  • Notes on multi dimensional Gaussians (PDF)
  • Python cheat sheet (PDF)
  • Matrix cookbook (PDF)
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