Course Autonomous Mobile Robots
Bachelor Artificial Intelligence
This is the information for Spring 2025
This year the course will be given again by
Arnoud Visser, together
Shaodi You.In the period 2017-2024 the course was given by
Herke van Hoof and
Shaodi You.
The information of the year
2016 is also still available.
Description
The description is available in the course catalogue with code AUMR6Y. The course is a free choice in the Bachelor Artificial Intelligence Curriculum.
Contents
This course gives an introduction in the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The focus will be on the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks. It synthesizes material from the fields of kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence and probability theory.
This course is based on the book 'Introduction to Autonomous Mobile Robots', from Prof. Dr. Roland Yves Siegwart, Prof. Dr. Illah R. Nourbakhsh and Prof. Dr. Davide Scaramuzza.
The assignments are all based on the Matlab environment.
This YouTube lectures give a short introduction to the Matlab environment:
the workspace, variables, vectors, colon operator, matrices, concatenating, matrix initialization.
Schedule
The official schedule
should be found at mytimetable or datanose.
Chapter 1-4 of the book will be introduced by Arnoud Visser. Chapter 5-6 will be covered by Shaodi You.
For the assignments not only a solution is expected, but also a rational. The
experiments performed to solve the given problem should be described in a lab report, which will be graded based on the following criteria.
Week 44: Chapter 1 & 2 - Introduction & Locomotion
Solve OpenLoop steering assignment, including RWTH Toolbox Installation Instructions.
Week 44: Chapter 3 - Kinematics
Week 45: Chapter 4.1 Sensors for Mobile Robots
Week 45: Chapter 4.2 Fundamentals of Computer Vision
  Solve
Assignment 3, matlab files, camera snapshots.
Week 46: Chapter 4.3-4.5 Feature Extraction
Week 46: Chapter 4.6-4.7 Place Recognition
Week 47: Partial Exam
Week 48: Chapter 5.1-5.5 The Challenge of Localization including YouTube lecture
Solve Localization assignment, Matlab code, color picker and two locally recorded datasets (one for training and one for testing)
Extra: 5 december recordings: (training set and testing set) and the 2014 Dataset
from Areg.
Week 48: Chapter 5.6 Probabilistic Map Based Localization
Week 49: Chapter 5.6.8 Kalman Filter Localization including YouTube lecture
and Kalman Filter Geometric Approach (Slides and Dutch recording)
Only slides 9-45.
Note the slightly different notation for the intermediate prediction;
x(k+1|k) by Choset et al.and x(t) by Thrun/Siegwart et al.
Week 49: Chapter 5.8 Simultaneous Localization and Mapping (part I and part II)
YouTube lecture EKF-SLAM, YouTube lecture Monocular SLAM
Solve
Assignment 4, with provided Logger, Example log, Matlab files and a locally recorded dataset (dataset and route (displacements of 15cm at the straight lines)).
Week 50: Chapter 6 - Planning and Navigation (part I and part 2)
YouTube lecture 1, lecture 2, lecture 3, lecture 4, lecture 5.
Week 51: Partial Exam
Literature
Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza 'Introduction to Autonomous Mobile Robots', 2nd edition, The MIT Press, 2011.
Embedding in AI curriculum
This course is supported by the following chapters of
'Artificial Intelligence - A Modern Approach' 4th edition, by Stuart Russell and Peter Norvig:
- Chapter 12: Quantifying Uncertainty
- Chapter 13: Probabilistic Reasoning
- Chapter 14: Probabilistic Reasoning over Time
- Chapter 25: Perception
- Chapter 26: Robotics
.
Links
- The Book's webpage.
- The Book's Slides/Exercices page.
- Davide Scaramuzza's Teaching site.
-
Eldgenössische Technische Hochschule Zürich: Vision Algorithms for Mobile Robotics (2021) by Manasi Muglikar, Nico Messikommer and Davide Scaramuzza.
- University of Edinburgh: Introduction to Mobile Robotics (2023) - Chris Lu, Mobile Robotics, Springer, 2003 and Probabilistic Robotics, MIT Press 2005.
- University of Edinburgh: Advanced Robotics (2023) - Ram Ramamoorthy and Steve Tonneau, Modern Robotics, Cambridge Press, 2017 and Introduction to Robotics, Mechanics and Control Pearson 2018.
- University of Edinburgh: Introduction to Vision and Robotics (2021) - Mohsen Khadem, Robotics, Modelling, Planning and Control, Springer, 2009.
-
Australian National University: Robotics (2023) - based on Mark W. Spong, Seth Hutchinson and M. Vidyasager, Robot Modelling and Control, Wiley, 2020.
-
Eldgenössische Technische Hochschule Zürich: Autonomous Mobile Robotics (2017) by Roland Siegwart, Margarita Chli and Martin Rufli.
-
Tecnico Lisboa: Introduction to Robotics (2018), Pedro Lima.
Eldgenössische Technische Hochschule Zürich: Autonomous Mobile Robotics (2016) by Roland Siegwart, Margarita Chli and Martin Rufli.
-
Eldgenössische Technische Hochschule Zürich: Autonomous Mobile Robotics (2015) by Roland Siegwart, Marco Huttler, Mike Bosse, Martin Rufli and Davide Scaramuzza.
- Davide Scaramuzza's old Teaching site (until 2014).
-
Eldgenössische Technische Hochschule Zürich: Autonomous Mobile Robotics (2012) by Roland Siegwart, Margarita Chli, Martin Rufli and Davide Scaramuzza.
-
Princeton University: Autonomous Robot Navigation (2015) by Dr. Christopher Clark.
-
University of Edinburgh, Intelligent Autonomous Robotics (2016) by Prof. Barbara Webb.
-
Università di Roma La Sapienza: Autonomous and Mobile Robotics (2016) by Prof. Giuseppe Oriolo.
-
Southern Illinois University: Autonomous and Mobile Robotics (2013) by Dr. Henry Hexmoor.
-
Princeton University: Autonomous Robot Navigation (2012) by Dr. Christopher Clark.
-
Southern Illinois University: Autonomous and Mobile Robotics (2012) by Dr. Henry Hexmoor.
-
Washington University in St. Louis: Mobile Robotics (2015) by David V. Lu.
-
Carnegie Mellon University: Introduction to Robotics (2016) by Howie Choset
-
Carnegie Mellon University: Introduction to Robotics Programming (2007) by Alonzo Kelly
-
Carnegie Mellon University: Introduction to Mobile Robotics (2005) by Alonzo Kelly
-
Carnegie Mellon University: Introduction to Mobile Robotics (1997) by Illah R. Nourbakhsh
Software toolkits
Chapter 4, section 2.6 (page 186) - Structure from Motion:
Chapter 4, section 5 (page 234) - Interest Point Detectors:
Chapter 5, section 8 (page 365) - Simultaneous Localization and Mapping algorithms:
Bibliography (page 444) - Referenced webpages:
Last updated March 5, 2024
This web-page and the list of participants to this course is maintained by
Arnoud Visser
(a.visser@uva.nl)
Faculty
of Science
University of Amsterdam