 |
|
||||||||||
Autonomous Mobile Robotics
This course is jointly taught by Roland Siegwart, Margarita Chli, Martin Rufli and
Davide Scaramuzza.
All lectures are recorded and can be watched online at www.multimedia.ethz.ch .
Relevant course material (lecture slides, exercise handouts and supplemental
material) will gradually become available throughout the term from the links
below.
Lecture program 2012
Lectures |
Lecturer |
Exercises |
||||
| Lecture Dates | Mondays 14.15 - 16.00 in HG D 3.2 | Exercise Dates | Tuesdays 10.15 - 12.00 in HG G 1 | |||
1. |
20 Feb |
Introduction |
R. Siegwart, D. Scaramuzza |
- |
||
2. |
27 Feb |
Locomotion concepts [Slides] |
M. Rufli |
- |
||
3. |
05 Mar |
Mobile Robot Kinematics [Slides][Errata] |
M. Rufli |
06 Mar |
Exercise 1: Kinematics model and trajectory calculation of wheeled robots [Exercise][Solution] | |
4. |
12 Mar |
Perception: Sensors [Slides] |
R. Siegwart |
13 Mar |
Exercise 2: Motion control of a differentially-driven robot [Exercise Sheet][LegoNXT Files][USBtoCOM Mapper][Solution] |
|
5. |
19 Mar |
Perception:Robot Vision I [Slides] |
M. Chli |
- |
||
6. |
26 Mar |
Perception:Robot Vision II [Slides] |
M. Chli |
27 Mar |
Exercise 3: Range sensing with an omnidirectional camera [Exercise][Matlab Files][Camera Snapshots] |
|
7. |
02 Apr |
Perception:Robot Vision III [Slides] Localization: Odometry, Map representation |
M. Chli,
D. Scaramuzza |
- |
||
8. |
23 Apr |
Localization: Probabilistic localization, Markov localization [Slides] |
D. Scaramuzza |
- |
||
9. |
30 Apr |
Localization: Kalman Filter Localization [Slides] |
D. Scaramuzza |
- |
||
10. |
07 May |
Simultaneous Localization And Mapping [Slides] |
M. Chli |
08 May |
Exercise 4: Particle filter based SLAM [Exercise][Logger][Example Log][Matlab Files] | |
11. |
14 May |
Path planning and navigation [Slides] |
M. Rufli |
15 May |
Exercise 5: Obstacle avoidance based on local grid [Exercise][Matlab Files] | |
12. |
21 May |
Summary [Slides] |
all |
- |
Archive:
Course material from 2011
Course material from 2010
Course material from 2008
Course material from 2007
Wichtiger Hinweis:
Diese Website wird in älteren Versionen von Netscape ohne
graphische Elemente dargestellt. Die Funktionalität der
Website ist aber trotzdem gewährleistet. Wenn Sie diese
Website regelmässig benutzen, empfehlen wir Ihnen, auf
Ihrem Computer einen aktuellen Browser zu installieren. Weitere
Informationen finden Sie auf
folgender
Seite.
Important Note:
The content in this site is accessible to any browser or
Internet device, however, some graphics will display correctly
only in the newer versions of Netscape. To get the most out of
our site we suggest you upgrade to a newer browser.
More
information
