ELEC-E8111 - Autonomous Mobile Robots P, 26.02.2019-03.04.2019

Topic outline

• Materials
  • Select activity Lecture 1; Feb 26, 2019: Course introduction and arrangements, Introduction to mobile robots

    

    Lecture 1; Feb 26, 2019: Course introduction and arrangements, Introduction to mobile robots Folder

    Course introduction and arrangements

    
    

    Introduction to mobile robots

    • What is a service robot? Field Robot?
    • Which kinds of service and field robots exist?
    – Examples
    • Mobile robot subsystems
    • Control architectures
    • More on Field robotics
    • Autonomous vehicles
    

    
    

  • Select activity Lecture 2: Feb 27, 2019 We 12-14 Robot control system architectures

    

    Lecture 2: Feb 27, 2019 We 12-14 Robot control system architectures Folder

    Robot control system architectures

    •Motivation and state-of-the-art issues

    •Short introduction to control paradigms

    •The Hierarchical Paradigm

    •Biological foundations for the reactive paradigm

    •The Reactive Paradigm

    •The Hybrid Paradigm

    •AuRA Architecture (example of Hybrid solutions)

    
    

  • Select activity Lecture 3. March 5, 2019: Introduction to design cases and lab work arrangements; Introduction to ROS; Locomotion, Kinematics, and Low level Motion Control

    

    Lecture 3. March 5, 2019: Introduction to design cases and lab work arrangements; Introduction to ROS; Locomotion, Kinematics, and Low level Motion Control Folder

     Introduction to design cases and lab work arrangements

    • Design of a case robot system
    • Testing algorithms under ROS on Pioneer
      robot platform
      

    Introduction to ROS

    • Overview
    • Main components
    • How does ROS communication work
    • ROS Tools Helpful to know

    Locomotion, Kinematics, and Low level Motion Control

    • Locomotion – Principles and mechanisms to make the robot move.
    • Kinematics – How to model motion of (rigid) bodies?
    • Motion control – How to make a robot attain a goal or follow a trajectory?

    
    
  • Select activity Lecture 4, March 6, 2019: Sensing and Perception

    

    Lecture 4, March 6, 2019: Sensing and Perception Folder

    Sensing and Perception Characterizing sensors

    • Characterizing sensors
    • Classification of sensors
    • Sensor types for mobile robots
    • Perception in mobile robotics
      
  • Select activity Lecture 5, March 12, 2019: Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea; EKF SLAM

    

    Lecture 5, March 12, 2019: Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea; EKF SLAM Folder

    Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea

    - Main material as subset of ETH slides
    - Kalman-filter based traditional vehicle localization in the tractor-trailer -case.

    Extended Kalman Filter SLAM (EKF SLAM)

    Save videos for running. A  video  haehnel-RawOdometry-anim.avi demonstrates mapping with raw odometry localization  - Just mapping, not SLAM. I odometry errors accumulate quickly too large.
    A video haehnel-ScanMatching-anim.avi demonstrates  first real SLAM, localization on the basis of laser scan matching, only one estimate for pose, Mapping works
    file slam.pdf, EKF SLAM video be Nebot can be run  in the 4_EKF_SLAM 2018.ppt -slide set.
    

  • Select activity Lecture 6, March 13, 2019: Particle filter and Fast SLAM

    

    Lecture 6, March 13, 2019: Particle filter and Fast SLAM Folder

    Particle filter

    Particle filters are introduced in particle-filters 2018.pdf.

    Fast SLAM

    Particle distribution for robot pose, for each robot pose particle,  separate EKFs for positions of  landmarks. Own realization of grid type maps

    Fast SLAM: You can run videos in the fastslam 2018.ppt -slide set. pdf available, too.

    Some Fast SLAM videos added as separate files. In order to run videos, save them.

    bruceton-one-loop.avi ; fastslam-dmb-fastslam.avi ; haehnel-ScanMatchingFastSLAM-Seattle-anim-2.avi

    
    

    
    

    
    

  • Select activity Lecture 7, March 19, 2019: Graph SLAM

    

    Lecture 7, March 19, 2019: Graph SLAM Folder

    Graph SLAM

    – Graph construction and optimization
    – Case forest SLAM
    – Advanced topics
    

  • Select activity Lecture 8, March 20, 2019: Satellite positioning – GNSS technologies

    

    Lecture 8, March 20, 2019: Satellite positioning – GNSS technologies Folder

    Satellite positioning – GNSS technologies

    ● GNSS (Global Navigation Satellite System)
    – Applications
    – Constellations: GPS, Galileo, GLONASS, Beidou, QZSS
    ● GPS architecture and system
    ● Multi-sensor data input
    ● Position determination
    ● Error sources
    ● GNSS performance
    ● GNSS shortcomings
    ● Practicals for coding (formats, libs, links)

    
    

  • Select activity Lecture 9, March 26, 2019: Graph-based Path Planning: Graphs to the Rescue!!

    

    Lecture 9, March 26, 2019: Graph-based Path Planning: Graphs to the Rescue!! Folder

    Graph-based Path Planning: Graphs to the Rescue!!

    By Dr Kshitij Tiwari

    Overview
    Biography
    Motivation
    About
    Graph-based Path Planners
    

    • Scenario
    • Graphs
    • Best-first Search Methods
      

          Dijkstra Algorithm
          A* Algorithm
          D* AlgorithmDijkstra Algorithm Algorithm

    • Sampling Based Methods
          RRT
          PRM

    Summary
    Cliff Hanger
    Readings

  • Select activity Lecture 10: March 27, 2019: Informative Path Planning: Information to the Rescue!!; Coverage Path Planning Wide Area Coverage!! Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU)

    

    Lecture 10: March 27, 2019: Informative Path Planning: Information to the Rescue!!; Coverage Path Planning Wide Area Coverage!! Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU) Folder

    Informative Path Planning: Information to the Rescue!!

    By Kshitij Tiwari

    
    

    Overview
    Recap
    Informative Path Planning (IPP)
        Information
        Path Planning
        Challenges
    Summary
    Readings
    ROS Tutorial
    

    
    

    Coverage Path Planning (CPP)

    by Dr Tiwari

    
    

    Travelling Salesman
    Lawnmower
    Piano Mover
    Art Gallery
    Watchman Route
    Orienteering
    Random Exploration
    Frontier-based Exploration
    Adaptive Voronoi Exploration
    
    

    Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU)

    By AV

    • Introduction
    • Mathematics of Inertial Navigation
    • Errors and Aiding in Inertial Navigation
    • Example: Simple Odometry Aided AHRS
    • Use of cheap MEMS IMUs in robotics
    • Summary
    

  • Select activity Lecture 11, April 2, 2019; TU2, 14-16: Visual localization and object recognition

    

    Lecture 11, April 2, 2019; TU2, 14-16: Visual localization and object recognition Folder

    Visual localization and object recognition

    Perception for Mobile Robots

    Machine Vision

    Stereo Vision

    Filtering, Edges, and Point-features

    Corner Detection

    Blob features

    Place Recognition, Line Extraction

    
    

    
    

    
    

  • Select activity Lecture 12, April 3, 2019, Room TU1 Time 14-16: Outdoor Path Planning and Motion Control

    

    Lecture 12, April 3, 2019, Room TU1 Time 14-16: Outdoor Path Planning and Motion Control Folder

    Outdoor Motion Planning and Control

    Control of mobile robot

    1. Robot Trajectory Following
    2. Perception Based Control
    3. Steering Trajectory Generation
    4. Optimal and Model Predictive Control
    5. Intelligent Control

    Example: NMPC in autonomous driving of tractor and implement

    The  journal article is additional material and details are not required in the exam.
    

  • Select activity EXAM 1: On Tuesday April 9, 2019, Room AS2, Time 9-12

    

    EXAM 1: On Tuesday April 9, 2019, Room AS2, Time 9-12 Folder
  • Select activity EXAM 2: On Tuesday April 23, 2019, Room AS2, Time 13-16

    

    EXAM 2: On Tuesday April 23, 2019, Room AS2, Time 13-16 Folder