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Robotics: Fundamentals

6

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#40092 / #2

SS 2015 - WS 2015/16

Fakultät IV

MAR 5-1

Institut für Technische Informatik und Mikroelektronik

34341700 FG Robotik und Bioinformatik

Brock, Oliver

Deimel, Raphael

oliver.brock@tu-berlin.de

POS-Nummer PORD-Nummer Modultitel
2345238 35078 Robotics: Fundamentals

Learning Outcomes

Students will gain knowledge of fundamental paradigms in programming embedded, autonomous, mobile platforms to perform complex tasks in open worlds. They are able to apply algorithms for acquiring and processing sensor data, generate actions and represent an uncertain environment. Further, they will gain experience in working with embedded systems interacting with the real world and the use of software engineering tools.

Content

Lecture: Introduction to components and algorithms of mobile robots Sensing, Actuation, real time control, kinematics, world representation, path planning in 2D localization in 2D, Handling uncertainty and incomplete world knowlege probabilistic models and recursive estimation Application to a mobile robot platform: The course topics are implemented in group work on a mobile robot platform. The groups develop the software components necessary for controlled, environment aware motion from the ground up, such as motion primitives, localization and mapping algorithms, and collision avoidance. Finally the students will compare their solutions in a robot tournament.

Module Components

Pflichtgruppe:

All Courses are mandatory.

Course Name Type Number Cycle Language SWS
Robotics: Fundamentals IV 0433 L 408 SS No information 6

Workload and Credit Points

Robotics: Fundamentals (IV):

Workload description Multiplier Hours Total
Präsenzzeit 15.0 4.0h 60.0h
Vor-/Nachbereitung 15.0 8.0h 120.0h
180.0h(~6 LP)
The Workload of the module sums up to 180.0 Hours. Therefore the module contains 6 Credits.

Description of Teaching and Learning Methods

Integrierte Veranstaltung aus Vorlesung (2h), Großübung (2h), betreuter Rechnerzeit (2h) und praktischen Arbeiten in Gruppen mit mobilen Robotern.

Requirements for participation and examination

Desirable prerequisites for participation in the courses:

Verpflichtend: Kenntnisse in imperativer und objektorientierter Programmierung, Algorithmen und Datenstrukturen (Modul MPGI2 oder äquivalent). Wünschenswert: Programmierkenntnisse in Python Kenntniss des Robot Operating Systems (ROS)

Mandatory requirements for the module test application:

No information

Module completion

Grading

graded

Type of exam

Portfolio examination

Type of portfolio examination

No information

Language

English

Test elements

Name Categorie Duration/Extent
Abschlusspräsentation 20 No information
Übung mit Abgabeprotokoll 20 No information

Grading scale

No grading scale given

Test description (Module completion)

Insgesamt können 100 Punkte erreicht werden: * vier Übungen mit Abgabeprotokollen (4 * 20 Punkte) * Abschlusspräsentation Die Gesamtnote gemäß § 47 (2) AllgStuPO wird nach dem Notenschlüssel 2 der Fakultät IV ermittelt.

Duration of the Module

The following number of semesters is estimated for taking and completing the module:
1 Semester.

This module may be commenced in the following semesters:
Sommersemester.

Maximum Number of Participants

The maximum capacity of students is 36.

Registration Procedures

Aktuelle Hinweise unter http://www.robotics.tu-berlin.de/menue/studium_und_lehre/ Anmeldung zur Prüfung laut Prüfungsordnung. Hinweise in den Veranstaltungen zur Anmeldung zur Prüfung beachten.

Recommended reading, Lecture notes

Lecture notes

Availability:  unavailable

Electronical lecture notes

Availability:  available
Additional information:
Internetseite wird in der VL bekannt gegeben.

Literature

Recommended literature
No recommended literature given.

Assigned Degree Programs

This module is used in the following Degree Programs (new System):

Verwendungen (5)
Studiengänge: 2 Stupos: 3 Erstes Semester: SS 2015 Letztes Semester: WS 2015/16

This moduleversion is used in the following modulelists:

Miscellaneous

Bei ausreichenden Kapazitäten auch als Wahlpflichtmodul in anderen Studiengängen wählbar, z.B. Masterstudiengang Physikalische Ingenieurwissenschaft, Masterstudiengang Informationstechnik im Maschinenwesen.