ELEC-E8111 - Autonomous Mobile Robots P, 25.02.2020-01.04.2020

Materials

• Materials
  

  Materials

  • 

    FolderLecture 1, Feb 25: Course introduction and arrangements; What is Mobile robot !? Folder

    Course introduction and arrangements
    

    • Learning goals
    • Teaching and requirements
    • Grading and evaluation
      

    What is Mobile robot !?
    

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

    
    
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    FolderLECTURE 2, Feb 26: Robot control 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)

    
    

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    FolderLecture 3, March 3: Course Robot Projects: 1) Design Project, 2) ROS/Pioneer lab robot project; Introduction to ROS; Locomotion, Kinematics, and Low level Motion Control Folder

    Course Robot Projects
    

    Team works:
    1) Design of a case robot system
    2) Testing algorithms under ROS/ Pioneer

    Introduction to ROS/Pioneer robot
    

    Locomotion, Kinematics, and Low level Motion Control

    • Locomotion – Principles and mechanisms to make the robot move.
    • Kinematics – How to model motion of (rigid) bodies?

    Kinematics for a differential drive robot
    

    • Motion control – How to make a robot attain a goal or follow a trajectory?

    
    

    For Outdoor, Kinematics for a Wheeled Mobile Robot (WMR)

    
    

    WMR Velocity Kinematics for Fixed Contact Point – General Theory, not required in Exam
    

    
    
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    FolderLecture 4, March 4: Sensing and Perception Folder

    Sensing and Perception

    • Characterizing sensors
    • Classification of sensors
    • Sensor types for mobile robots
    • Perception in mobile robotics
    

  • Restricted Not available unless: You are a(n) Student

    Lecture 5, March 10, 2020: Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea; EKF SLAM Folder
  • Restricted Not available unless: You are a(n) Student

    Lecture 6, March 11, 2020: Particle filter and Fast SLAM Folder
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    FolderLecture 7, March 17, 2020: Graph SLAM Folder

    Graph SLAM

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

    Zoom-video from remote lecture
    

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    FolderLecture 8, March 18, 2020: Satellite positioning – GNSS technologies Folder

    Satellite positioning – GNSS technologies

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

    Zoom-video of remote lecture
    

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    FolderLecture 9, March 24, 2020: Pose Estimation, Inertial Navigation Systems (INS), Inertial Measurement Unit (IMU) Folder

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

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

    A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs - paper as additional material, not required in exam
    

    Zoom-video of the remote lecture
    

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    FolderLecture 10, March 25, 2020: 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

    
    

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    FolderLecture 11, March 31, 2020: Graph-based Path Planning; Informative Path Planning by Dr Tiwari Folder

    Graph-based Path Planning

    Graphs to the rescue!!
    

    Dr. Kshitij Tiwari

    Overview
    Biography
    Motivation
    About
    Graph-based Path Planners
    Scenario
    Graphs
    Best-first Search Methods
    

    • Dijkstra Algorithm
    • A* Algorithm
    • D* Algorithm

    Sampling Based Methods

    • RRT
    • PRM

    Summary

    Cliff Hanger
    Readings

    Informative Path Planning

    Information to the rescue!!

    Dr. Kshitij Tiwari
    

    Overview
    Recap
    Informative Path Planning (IPP)
    

    • Information
    • Path Planning
    • Challenges

    Tackling challenges
    

    • Information acquisition
    • Termination criterion
    • Scalability
    • Interference
    • Sufficient information

    Summary
    Readings
    ROS Tutorial

    Zoom-video of the remote lecture
    

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    FolderLecture 12, April 1, 2020: Coverage Path Planning by Dr Tiwari; Outdoor Motion Planning and Control by Visala Folder

    Coverage Path Planning
    Wide Area Coverage!!

    By Dr. Kshitij Tiwari

    Overview
    Motivation
    Intuition
    Coverage Path Planning (CPP)
    

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

    Challenges
    Summary
    Readings

    Outdoor Motion Planning and Control
    

    Predictive Modeling
    

    – Braking
    – Turning
    – Vehicle Rollover
    – Wheel Slip and Yaw Stability
    

    Control of mobile robot
    1. Robot Trajectory Following
    2. Perception Based Control
    3. Steering Trajectory Generation
    4. Optimal and Model Predictive Control

    Nonlinear Model Predictive Control (NMPC)  in Semiautonomous Systems at Aalto
    Example: Autonomous driving of Tractor and Implement
    

    5. Intelligent Control