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Autonomous robotics labs


Labs consists 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 correct solution of the homework is demonstrated in the following lab, the homework is rewarded by 3 points, i.e. you can obtain 21 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 eight week, the solution have to be uploaded before beginning of the labs in the thirteen week. You can obtain up to 19 points for the solution. 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: Zpráva musí obsahovat explicitní odpovědi na tyto otázky: ”(i) How do you estimate and update 3D position of the markers? (ii) How do you update the position of the robot in relation to markers? (iii) How do you plan trajectory for the robot through the course? (iv) How do you execute the planned trajectory? (v) How do you evaluate progress of proposed solutions?”.

Maximum length of the report are four A4 pages containg not more than 3600 characters (i.e. two 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 student 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 work (reports and preliminary version of codes) before the beginning of the labs in the thirteenth 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).


date week content homework references labs data and template
23.02.2017 1. Intro to Python, norms, overdetermined set of linear equations and ML estimation of motion model identification HW1, ml_u_v.zip NumPy for MATLAB users Overdetermined system
02.03.2017 2. Localization and mapping from directional measurements (least squares) HW2, aro.py,lsq_directional_slam_k.npy.zip solution of overdetermined set of linear equations data_labs2.zip
09.03.2017 3. Localization from distant measurements (non-linear least squares) HW3 , hw03_d.npy.zip lsq-nlsq.pdf
16.03.2017 4. Camera and its calibration (homogeneous set of linear equations) HW4, hw4_data.zip camera model U.mat, X.mat
23.03.2017 5. Segmentation of thermal data and ROC curve HW5: Draw ROC bayes.pdf data_labs_05.zip
30.03.2017 6. Mapping from depth scans (ICP) DU6 06_icp_labs.zip
06.04.2017 7. Planning of collision-free trajectory (RRT) DU7: find feasible path to (21,0,7) 07_labs_rrt.zip
13.04.2017 8. Semestral work assignment
20.04.2017 9. consultation
27.04.2017 10. consultation
04.05.2017 11. consultation
18.05.2017 13. consultation
25.05.2017 14. solution demonstration
courses/b3m33aro/labs_en.txt · Last modified: 2017/05/22 09:49 by zimmerk