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Introduction to Mobile Robotics

Organizers: Prof. Dr. Abhinav Valada

Co-Organizers:
Dr. Daniel Büscher, Dr. Lukas Luft, Iana Zhura

This course will introduce basic concepts and techniques used within the field of mobile robotics. We analyze the fundamental challenges for autonomous intelligent systems and present the state of the art solutions. Among other topics, we will discuss kinematics, sensors, vehicle localization, map building, SLAM, control basics and path planning.

mobilerobotics

Details

Time: Lectures: Tuesday: 14:00 c.t. – 16:00, Exercise: Thursday: 16:00 c.t. - 18:00,
First meeting on April 16, 2024.
Location: This course will be held in-person. Lectures are conducted at HS 00 026 (G.-Köhler-Allee 101) and Exercise Sessions at HS 00 006 (G.-Köhler-Allee 082)
Learning Platform: ILIAS

Course Overview

The course will be taught in english.

Every week there will be:
- a lecture in person, Tuesday, 14:00 c.t. – 16:00
- an exercise sheet
- an exercise session in-person, Thursday, 16:00 c.t. – 18:00

The exam is WRITTEN for most students, except for bachelor students of computer science with Prüfungsordnung 2012.


All learning material including video lectures, slides, and exercises can be found on ILIAS

Lectures

Lecture Dates Topic
00 16-04-2024 Introduction
01 23-04-2024 Probability Theory
02 30-04-2024 Occupancy Grid
03 07-05-2024 Motion Models
04 14-05-2024 Observation Models
05 21-05-2024 Kalman Filter and EKF
06 28-05-2024 Particle Filter
07 04-06-2024 SLAM - Simultaneous Localization and Mapping:
08 11-06-2024 SLAM - Landmark-based FastSLAM
09 18-06-2024 SLAM - Graph-based SLAM
10 25-06-2024 Control Systems
11 02-07-2024 Motion and Path Planning
12 09-07-2024 Summary

Exercises

Each exercise session consists of two parts: answering open questions on the lecture and the discussion of the exercise sheets.

Solving the exercise sheets is recommended but not mandatory to be admitted to the final exam. There are no bonus points.

Exercise sheets will be published one week before the discussion session. We strongly encourage you to solve the exercise sheets beforehand to benefit from the discussions in class.

Questions?

If you have a question, please post it in the ILIAS forum (so everyone can benefit from the answer). Alternatively, you can also email mobilerobotics@cs.uni-freiburg.de