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Course Autonomous Mobile RobotsBachelor Artificial IntelligenceThis is the information of Fall 2012The previous year a course with a slightly different focus was given (Probabilistic Robotics).
DescriptionThe description is available in the course catalogue with code AUMR6Y. The course is a free choice in the Bachelor Artificial Intelligence Curriculum. ContentsThis 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. ScheduleThe official schedule should be found here. The Studio Class Room is scheduled on Monday and Thursday, from 9u00 to 13u00. The Studio Class Room will be a combination of lectures, book exercises and assignments. The course will take place in A1.30. A list of Frequent Asked Questions will be maintained. Chapter 2-4 of the book will be introduced by Toto van Inge. Chapter 1 and 5-6 will be covered by Arnoud Visser. Students, who were not able to attend a lecture, can catch up by listing to the recordings of my (Dutch). Download Lecturnity Player and listen to lecture, synchronized with the sheets.
Week 44: Chapter 1 & 2 - Introduction & Locomotion
Week 44: Chapter 3 - Kinematics
Week 45: Chapter 4.1 Sensors for Mobile Robots
Week 45: Chapter 4.2 Fundamentals of Computer Vision
Week 46: Chapter 4.3-4.5 Feature Extraction
Week 46: Chapter 4.6-4.7 Place Recognition
Week 47: Partial Exam (exam including answers)
Week 48: Chapter 5.1-5.5 The Challenge of Localization
Week 48: Chapter 5.6 Probabilistic Map Based Localization
Week 49: Chapter 5.6.8 Kalman Filter Localization
Week 49: Chapter 5.8 Simultaneous Localization and Mapping
Week 50: Chapter 6 - Planning and Navigation
Week 50: Summary, including
Dutch recording.
Week 51: Partial Exam, December 20th, 13:00-15:00, A1.04
Literature
Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza 'Introduction to Autonomous Mobile Robots', 2nd edition, The MIT Press, 2011. Reading guide
Embedding in AI curriculumThis course is supported by the following chapters of 'Artificial Intelligence - A Modern Approach' 3rd edition, by Stuart Russell and Peter Norvig:
Evaluation
The course of this year evaluated by the participants with a 7.7: Links
Software toolkitsChapter 4, section 2.6 (page 186) - Structure from Motion:
Last updated June 6, 2013
This web-page and the list of participants to this course is maintained by
Arnoud Visser
(arnoud@science.uva.nl)
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6 visitors in August 2007 | arnoud@science.uva.nl |