Introduction to Mobile Robotics - SS 2021
Course content (engl.)
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
Organization
- Lecturer: Prof. Dr. Wolfram Burgard, Dr. Daniel Büscher, Dr. Lukas Luft
- Co-organizers: Shengchao Yan, Johannes Meyer
- Introduction session: There will be an intro lecture on Tuesday, April 20, 13:00 via Zoom.
- The Q&A-sessions take place Tuesdays at 13:00 via Zoom (the first one on April 27).
- The exercises take place Thursdays at 13:00 via Zoom (the first one on April 22).
- Zoom link: here, meeting ID: 686 2914 8672, the passcode is announced in ILIAS.
- All quiz questions can be found here, same password.
- No on-site lectures will be provided this term. Please work over the lecture recordings (see below) in your own time.
- For questions and discussions: ILIAS Forum. For access you might need to register to the ILIAS Course first.
- Exam: The exam is WRITTEN for most students, except for bachelor students of computer science with Prüfungsordnung 2012.
- WRITTEN: Thu 23-09-2021, 13:00 - 16:00. Estimated start: 14:00, duration: 90 minutes.
- ORAL: September 20 and 24, 2021.
- Post-exam review: Thu 21-10-2021 and Fri 22-10-2021, from 10:00, building 080 (back entrance), seminar room ground floor
- Retake exam: oral, individual time slots from March 1 to March 17, 2022. The exams take place in building 80, lower floor seminar room (00.021).
Lectures
Lecture | Dates | Topic | Slides | Recordings |
00 | 20-04-2021 | Introduction | MP4 | |
01 | 27-04-2021 | Linear Algebra | MP4
MP4 |
|
02 | 04-05-2021 | Robot Control Paradigms | MP4 | |
03 | 04-05-2021 | Wheeled Locomotion | MP4
MP4 |
|
04 | 04-05-2021 | Proximity Sensors | MP4 | |
05 | 11-05-2021 | Probabilistic Robotics | MP4
MP4 MP4 |
|
06 | 18-05-2021 | Probabilistic Motion Models | MP4
MP4 |
|
07 | 25-05-2021 | Probabilistic Sensor Models | MP4
MP4 |
|
08 | 08-06-2021 | Bayes Filter - Discrete Filters | MP4 | |
09 | 08-06-2021 | Bayes Filter - Particle Filter and MCL | MP4
MP4 |
|
10 | 15-06-2021 | Bayes Filter - Kalman Filter | MP4 | |
11 | 15-06-2021 | Bayes Filter - Extended Kalman Filter | MP4 | |
12 | 22-06-2021 | Grid Maps and Mapping With Known Poses | MP4
MP4 | |
13 | 29-06-2021 | SLAM - Simultaneous Localization and Mapping | MP4 | |
14 | 29-06-2021 | SLAM - Landmark-based FastSLAM | MP4 | |
15 | 29-06-2021 | SLAM - Grid-based FastSLAM | MP4 MP4 |
|
16 | 29-06-2021 | SLAM - Graph-based SLAM | MP4 MP4 |
|
17 | 06-07-2021 | Techniques for 3D Mapping | MP4 | |
18 | 06-07-2021 | Iterative Closest Point Algorithm | MP4 |
|
19 | 13-07-2021 | Path and Motion Planning | MP4
MP4 MP4 |
|
20 | 20-07-2021 | Multi-Robot Exploration | MP4 MP4 |
|
21 | 20-07-2021 | Information Driven Exploration | MP4 | |
22 | 20-07-2021 | Summary | MP4 |
Exercises
Each exercise session consists of two parts: a short recap of 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 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 | |
Setup Python | myfirstscript.py | ||
01 | |
Linear Algebra | laserscan.dat | ||
02 | |
Locomotion, Differential Drive | |||
03 | |
Bayes Rule | |||
04 | |
Sampling, Motion Models | |||
05 | |
Sensor Models | |||
06 | |
Discrete Filter, Particle Filter | pf_framework.tar.gz | PDF (alternate solution for q1 | |
07 | |
Extended Kalman Filter | kf_framework.tar.gz | ||
08 | |
Mapping with Known Poses | |||
09 | |
FastSLAM | fastSLAM_framework.tar.gz fastSLAM_algorithm.pdf |
||
10 | |
Iterative Closest Point Algorithm | icp_framework.tar.gz | ||
11 | |
Path Planning | planning_framework.tar.gz |