CHAIR OF

COMPUTATIONAL

INTELLIGENCE

Organsiation

Lecturer: Dr.-Ing. Christoph Steup

Tutorials: Sebstian Mai,Dr.-Ing. Christoph Steup, Aleksandra Labutkina

Credits: 5 CP / 6 CP

Times and Dates

Lecture

• Wednesdays 15:15 - 16:45
• Room: G22A - 112
  
• Date: 12.04.2023 - 12.07.2023

Link to LSF

Tutorials

Group 1

• Time: Monday 09:15 - 10:45
• Room: not yet known
  
• Date: 08.04.2023 - 08.07.2023

Group 2

• Time: Monday 13:15 - 14:45
• Room: G29-336
  
• Date: 08.04.2023 - 12.07.2023

Group 3

• Time: Tuesday 15:15 - 16:45
• Room: not yet known
  
• Date: 09.04.2023 - 09.07.2023

Group 4

• Time: Wednesday 13:15 - 14:45
• Room: G29-336
• Date: 10.04.2023 - 10.07.2023

Link to LSF

Language 

• Lecture: English 
• Tutorials: English/German as necessary

Assignment to Curriculum:

Typical Placement in Curriculum: B.Sc. INF, WIF, INGIF, CV, from 3. Semester

• B.Sc. CV - WPF Informatik
• B.Sc. INF - WPF Informatik / WPF Technische Informatik
• B.Sc. INGINF - WPF Informatik / WPF Technische Informatik
• B.Sc. WIF-WPF Gestalten & Anwenden

Approximated Effort

Total: 150 h

• 2h per Week Lecture = 26h
• 2h per Week Exercise = 26h
• approx. 3h Recap and Self study of Lecture per Week ~ 40h
• approx. 5h Preparation of Exercise Tasks per Week ~ 58h
  

Prerequisites (recommended)

• Einführung in die Informatik
• Intelligente Systeme

Registration

You need to register for the lecture in LSF. We will discuss the exercise slots and distribute students to exercise groups in the first lecture.

Goals

• Understanding the Structure of Complex Robotic Systems
• Building Complex Robots and Robotic Systems from Building
  Blocks
• Aspects of Robotic Systems and their Impact on Performance
• Developing Robotic System Software using ROS
• Extending Single Robot Systems to Multi-Robot Systems
• Developing Application-Specific Behavior using Standard
  Behaviors for Navigation and Path Planning

Content

The lecture Introduction to Robotics will teach students the fundamental concepts of robotics from a top-down perspective, focused on mobile robots.

The lecture starts with some exemplary robotic systems to show the variety of system in action today. Afterwards, multiple views on robotics systems are shown, which highlight different aspects like communication, behavior, movement, and system setup. The lecture continues with a description of multiple communication paradigms typically used in the robotic context and their relation to physical communication mechanisms. The next topic highlights some components typically found for perception and actuation like cameras, LiDARs, Distance Sensors, linear and revolute motors and piezo actuators. Afterwards, mechanisms to combine perception and actuation using low-level control mechanisms are shown. The shown mechanisms are reactive behaviors based on rule-sets and state-machines and feed-back-based control. Additionally, some kinematic models for movement of robots are highlighted like differential drive, Ackerman steering and holonomic movement. The next part of the lecture focus on localization of mobile robots using external mechanisms like Triangulation and Trilateration and internal mechanisms like SLAM and landmark tracking. The last two parts of the lecture discuss algorithms for path-and trajectory planning, and the extension to multi-robot systems. 

The exercises to the lecture will highlight the concepts of the lecture with practical examples based on robotic simulations in ROS with the Gazebo simulator.

Lectures

In this section, you will find the slides of the lectures with and without contained videos. The password for all the materials is shown in Moodle for registered course members only.

You can find the lecture recordings on Mediasite in the Introduction to Robotics Channel.

Tutorials

Materials

• Programming Assignments
  • Task description for all tasks
  • Slides for assignment 1 (updated 19.04.)
  • Slides for assignment 2
  • Slides for assignment 3
  • Slides for assignment 4
• Theory Sheet 1
• Theory Sheet 2
• Theory Sheet 3
  
  • Jupyter Notebook

Dates for Group 1 and Group 2:

Dates for Group 3:

Dates for Group 4:

Examination

Oral Exam after the end of the lecture period

To be eligible for the exam, you need to have taken part in the exercise and solved:

• 66% of all theoretical tasks
  
• 4 of 4 practical tasks

Students requiring a "Schein" will get it automatically after fulfilling the requirements for the exam.

Literature

• Sebastian Thrun: Probabilistic Robotics, https://lhmdb.gbv.de/DB=1/XMLPRS=N/PPN?PPN=481815236
• Steven LaValle, Planning Algorithms, https://lhmdb.gbv.de/DB=1/XMLPRS=N/PPN?PPN=481815236