Autonomous robotics labs

Outline

Labs consist of 7 regular labs intended for practical exercises, 6 lessons intended for semestral work consultations. Participation in the regular and the final lab is mandatory. There will be 7 homeworks assigned during regular labs, which are due to in 7 days. If a correct solution of the homework is demonstrated in the following lab, the homework is rewarded by 3 points, i.e. you can obtain 18 points from homeworks in total. Homeworks are not uploaded, it is enough to show the solution in the beginning of the next labs.

Semestral work assignment is in the eighth week, the solution has to be uploaded before the beginning of the labs in the thirteenth week. You can obtain up to ěě points for the solution (1ř for demonstration and 7 for the report). Each group of students (maximum size is 3) is obliged to upload own code and a short report consisting of explicit answers to a few questions: Report should consist of answers for the following questions: ”(i) How do you estimate and update the 3D position of the markers? (ii) How do you update the position of the robot in relation to markers? (iii) How do you plan the trajectory for the robot through the course? (iv) How do you execute the planned trajectory? (v) How do you evaluate the progress of proposed solutions?”.

The maximum length of the report is three A4 pages containing not more than 2700 characters (i.e. one and a half normalized pages normostrany) and an arbitrary amount of figures (captions are also counted as characters, axis titles are not counted).

We want students to work individually, therefore any kind of plagiarism in codes, homeworks or reports will be mercilessly punished ;-). We strongly urge each student to read what is/isnot a plagiarism - we believe that many students will be surprised. In any case, it is not permitted to use the work of your colleagues or predecessors. Each student is responsible for ensuring that his work does not get into the hands of other colleagues. In the case of multiple submission of the same work, all involved students will be penalized, including those who gave the work available to others.

Credit conditions:

  • Uploading own solution of the semestral report (reports) before the beginning of the labs in the thirteenth week.
  • Demonstration of own solution of the semestral work in the fourteenth week.
  • Showing own solution of all homeworks before the beginning of the labs in the thirteenth week.
  • Obtaining at least 20 points (out of 40 possible).

Program

date week content homework references labs data and template
22.02.2018 1. Intro to Python, norms, overdetermined set of linear equations and ML estimation of motion model identification NumPy for MATLAB users Overdetermined system
01.03.2018 2. Localization from distant measurements (non-linear least squares) HW1, ml_u_v.zip iro_lsq-nlsq.pdf
08.03.2018 3. Camera and its calibration (homogeneous set of linear equations) Localization: HW2-simple SLAM:HW2-hard, hw02_d.npy.zip camera model
15.03.2018 4. Canceled
22.03.2018 5. Depth from two cameras, 3D point-cloud from depth, ICP HW3, hw3.zip, HW4, hw4_icp.zip Sensors MappingICP_paper
29.03.2018 5. Calibration of camera and stereo. 2D occupancy grid HW5 pinhole.pdf
05.04.2018 7. Plánování bezkolizní trajektorie v mapě (RRT) HW6, 2D Occupancy grid, Algorithm stopping condition: Distance between a path vertex and goal coords. is less than 1m. The occupancy grid adopted from http://robotang.co.nz, Copyright © 2011-2018 Robert Tang
12.04.2018 8. Semestral work assignment pre-release version
19.04.2018 9. consultation
26.04.2018 10. consultation
03.05.2018 11. consultation
10.05.2018 12. consultation
17.05.2018 13. consultation (Even though there is Tuesday´s timetable according to the academic calendar.)
24.05.2018 14. demonstration
courses/bxaro/labs_en.txt · Last modified: 2018/05/14 15:30 by kubelvla