Introduction to Mobile Robotics
Co-Organizers:
Dr. Daniel Büscher, Dr. Lukas Luft, Iana Zhura, Dulce Adriana Gómez Rosal
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.
| Time: |
Lectures: Tuesday: 14:00 s.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
- an exercise sheet
- an exercise session in-person
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 |
| 01 | 16-04-2024 | Introduction |
| 02 | 23-04-2024 | Probability Theory |
| 03 | 30-04-2024 | Sensor Models |
| 04 | 07-05-2024 | Motion Models |
| 05 | 14-05-2024 | Particle Filter |
| 06 | 28-05-2024 | Kalman Filter |
| 07 | 04-06-2024 | Grid Mapping |
| 08 | 11-06-2024 | SLAM - Simultaneous Localization and Mapping |
| 09 | 18-06-2024 | FastSLAM and Graph-based SLAM |
| 10 | 25-06-2024 | Techniques for 3D Mapping |
| 11 | 02-07-2024 | Motion and Path Planning |
| 12 | 09-07-2024 | Control Systems |
| 13 | 16-07-2024 | Q&A Session |
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