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Introduction to Mobile Robotics - SS 2020

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

  • Lecturer: Prof. Dr. Wolfram Burgard, Dr. Michael Tangermann, Dr. Daniel Büscher, Lukas Luft
  • Co-organizers: Marina Kollmitz,
  • Introduction session: There will be an intro lecture on May 13th, 12:00 via Zoom.
  • The first Q&A-Session / Exercise will take place on May 14th, 13:00 via Zoom.
  • Lecture: No on-site lectures will be provided this term. Please work over the lecture recordings (see below) in your own time.
  • Exercises: Thu 13.00-14.00, via Zoom. No recordings will be provided.
  • Zoom meeting links will be announced in the ILIAS forum (see below). Please download and test the Zoom client before the intro session: zoom.us/download
  • For questions and discussions regarding the lectures/tutorials an ILIAS Forum is available. For access you might need to register to the ILIAS Course first.

Lectures

Lecture Dates Topic Slides Recordings
00 13-05-2020 Introduction PDF MP4
01 20-05-2020 Linear Algebra PDF MP4
MP4
02 27-05-2020 Robot Control Paradigms PDF MP4
03 27-05-2020 Wheeled Locomotion PDF MP4
MP4
04 27-05-2020 Proximity Sensors PDF MP4
05 03-06-2020 Probabilistic Robotics PDF MP4
MP4
MP4
06 10-06-2020 Probabilistic Motion Models PDF MP4
MP4
07 17-06-2020 Probabilistic Sensor Models PDF MP4
MP4

Exercises

Each exercise session consists of three parts: a short recap of the lecture, a Q&A session and the discussion of the exercise sheets. Please post your questions for the Q&A session at least 24h before the exercise session in the ILIAS forum.

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 about one week before the discussion session. 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 Discussion Topic Exercise Sheet Exercise Material Solutions
00 14-05-2020 (Thu) Setup Python PDF func.py
01 20-05-2020 (Wed) Linear Algebra PDF laserscan.dat PDF
02 28-05-2020 (Thu) Locomotion, Differential Drive PDF
03 04-06-2020 (Thu) Bayes Rule PDF


Additional Material

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