SubjectsSubjects(version: 845)
Course, academic year 2019/2020
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Introduction to Robotics - NAIL028
Title in English: Úvod do robotiky
Guaranteed by: Department of Theoretical Computer Science and Mathematical Logic (32-KTIML)
Faculty: Faculty of Mathematics and Physics
Actual: from 2015 to 2019
Semester: winter
E-Credits: 6
Hours per week, examination: winter s.:2/2 C+Ex [hours/week]
Capacity: unlimited
Min. number of students: unlimited
State of the course: taught
Language: Czech, English
Teaching methods: full-time
Additional information: http://ktiml.mff.cuni.cz/~obdrzalek/vyuka/NAIL028/
Guarantor: RNDr. David Obdržálek, Ph.D.
Class: Informatika Mgr. - Teoretická informatika
Classification: Informatics > Software Engineering, Theoretical Computer Science
Is co-requisite for: NAIL061
Annotation -
Last update: T_KTI (13.05.2014)
This introductory course overviews key topics in robotics: kinematic and dynamic model, basic components (hardware, sensors and actuators, software), control systems, introduction to localization, mapping, planning.
Aim of the course -
Last update: RNDr. Jan Hric (07.06.2019)

TBA

Course completion requirements -
Last update: RNDr. David Obdržálek, Ph.D. (11.10.2017)

The course is credited for active participation during the sessions, timely submission of homeworks and timely submission of the assigned project - a software for a specific robot platform based on the specification set at the tutorials.

Nature of the course does not allow for repeated check.

Literature -
Last update: T_KTI (13.05.2014)

B. Siciliano, O.Khatib: Handbook of Robotics

S. M. LaValle: Planning Algorithms, Cambridge University Press, 2006

R. J. Schilling: Fundamentals of Robotics: Analysis & Control

Requirements to the exam -
Last update: RNDr. David Obdržálek, Ph.D. (11.10.2017)

The exam is oral. The requirements match the syllabus and course contents as presented at the classes.

Syllabus -
Last update: T_KTI (13.05.2014)

1. Introduction, history of robotics, basic terms

2. Kinematics and dynamics

2.1. Degrees of freedom, kinematic chain

2.2. Motion and transformation (translation, rotation, spherical motion)

3. Mechanics and mechatronics, sensors, actuators, low-level control

3.1. Motion methods, vehicle models

3.2. Sensor systems

3.3. Drive systems, movement and speed control

3.4. Single-chip systems, MCU, SoC

4. Software and algorithms for robot control

4.1. Software architectures, methods for implementation

4.2. Cognitive robotics, artificial intelligence

4.3. Localization and mapping (Kalman filter, Monte Carlo methods, probabilistic methods)

4.4. Planning, navigation

4.5. Advanced sensors, image processing

4.6. Multirobot systems

 
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