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

This course space end date is set to 01.04.2020 Search Courses: ELEC-E8111

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Materials

  • Materials

    Materials

    • icon for activity
      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

    • icon for activity
      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)


    • icon for activity
      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

    • icon for activity
      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
    • icon for activity
      FolderLecture 7, March 17, 2020: Graph SLAM Folder

      Graph SLAM

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

      Zoom-video from remote lecture

    • icon for activity
      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

    • icon for activity
      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

    • icon for activity
      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


    • icon for activity
      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

    • icon for activity
      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


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