======= Labs =======



===== Outline =====
Labs consist of 10 regular labs intended for practical exercises and last 3 labs are intended for demonstrations of the semestral work on the real TurtleBots. Active participation in the regular labs is mandatory. The content of regular labs is the implementation of algorithms, which solve well defined sub-problems of the semestral work such as localization, mapping and planning (see the program for details). Most of the regular labs are accompanied by homework. If a homework is uploaded after the deadline, it is rewarded by lower amount of points, proportional to the delay. [[ semestral_work | Semestral work ]] deadline is before the beginning of the labs in the 13th week for simulation part. Both homeworks and semestral work should be uploaded via the [[https://cw.felk.cvut.cz/upload/|upload system]]. Practical part of the semestral work will be demonstrated in labs during the last two weeks of the semester. Uploading your own solution of homework and the semestral work (which satisfy minimum requirements - it does what it should do) is a mandatory credit requirement. Homeworks and the semestral work can be solved either using [[ ros | your own laptop ]] or using [[ turtlebots#working_with_turtlebots_from_lab_desktop_computers | the workstations in E130 lab or in E132 classroom ]].


<note important>[[ ros | Guide on how to install ROS on your computer with Ubuntu 20.04 or how to run it on the computers in labs ]]</note>
<note important>[[turtlebots|Guide to the TurtleBot robotic lab.]] </note>

You can collect up to 50 points for the labs: 35 points for homeworks (5 points each x 7), 10 points for semestral work in simulation and 5 points for semestral work on real robots.

<note>We will also announce various options how to get a few bonus points during the semester.</note>
===== Program 2025 =====

Column **Deadline HW** means that the deadline of the mentioned homework is just before the corresponding lab.

<note>
The deadlines for homeworks and semestral work are soft. You lose 5%/day for late uploads. Some of the deadlines are tightly packed in the schedule, so don't fear using the deadline softness to accommodate the work according to your plans.
</note>

^ labs ^ date ^ tutor ^ room ^ labs plan ^ link ^ New HW ^ Deadline HW ^
|  1 | 17.2./20.2. | All     | E-132 | Intro to ROS I | [[lab01|Lab 1]] | [[homework01|HW 1]] (5p) | |
|  2 | 24.2./27.2. | All     | E-132 | Intro to ROS II | [[lab02|Lab 2]] | [[homework02|HW 2]] (5p) | HW 1 |
|  3 | 3.3./6.3.   | Karel   | E-132 | Factor graphs \\ ** Preinstall pytorch in advance! ** | [[lab03|Lab 3]] | | HW 2 |
|  4 | 10.3./13.3  | All     | E-132 | ICP SLAM | [[lab04|Lab 4]] | [[homework03|HW 3]] (5p) | |
|  5 | 17.3./20.3. | All     | E-132 | Factor graphs vs. EKF |  [[lab05|Lab 5]] | [[homework04|HW 4]] (5p) | |
|  6 | 24.3./27.3. | All     | E-130 | Real robot work + Semestral work Assignment | [[lab06|Lab 6]] | [[ semestral_work | Semestral Work]] (10p + 5p) | HW 3 |
|  7 | 31.3./3.4.  | All     | E-132 | Path following | [[lab07|Lab 7]] | [[homework05|HW 5]] (5p) | HW 4 |
|  8 | 7.4./10.4.  | All     | E-132 | Intro to ROS III + debugging | [[lab08|Lab 8]] | | |
|  9 | 14.4./17.4. | All     | E-132 | Path planning and frontier detection | [[lab09|Lab 9]] | [[homework06|HW 6]], [[homework07|HW 7]] (5p + 5p) | HW 5 |
| 10 | 28.4./24.4. | Vojtech | E-132 | Planning | [[lab10|Lab 10]] | | HW 6 |
| 11 | 5.5./6.5. (Tuesday!)   | All     | E-130 | Work with real robots | | | HW 7 |
| 12 | 12.5./15.5. | All     | E-130 | Demonstration on real robots | | | |
| 13 | 19.5./22.5. | All     | E-130 | Demonstration on real robots | | | SW 1 |



====== Lecturers ======

|{{:courses:aro:tutorials:pasova_fotka_lowres.jpg?70 |https://cmp.felk.cvut.cz/~peckama2/}} | [[https://cmp.felk.cvut.cz/~peckama2/|Martin Pecka]] is the **head of the labs**, focuses on localization and can help with ROS-related questions. | EN labs (101) | Mon 14:30-16:00 |
|{{https://mrs.fel.cvut.cz/images/images/people/tomas_musil.jpg?70 |https://mrs.fel.cvut.cz/members/phdstudents/tomas-musil}} | [[https://mrs.fel.cvut.cz/members/phdstudents/tomas-musil|Tomáš Musil]] focuses on exploration and path planning. | CZ labs (103) | Thu 12:45-14:15 |
|{{:courses:aro:tutorials:udb_parildav.jpeg?70 |parildav@fel.cvut.cz}} | [[parildav@fel.cvut.cz|David Pařil]] is a labs tutor. | CZ labs (101) | Thu 9:15-10:45 |
|{{:courses:aro:tutorials:vit_kratky.jpeg?70 |http://mrs.felk.cvut.cz/people/kratky}} | [[http://mrs.felk.cvut.cz/people/vit-kratky|Vít Krátký]] focuses on path following. | CZ labs (102) | Thu 11:00-12:30 |
|{{:courses:aro:tutorials:himmel.png?70 |himmebed@fel.cvut.cz}} | [[himmebed@fel.cvut.cz|Bedřich Himmel]] is technical support staff | HW labs | Mon/Thu labs |