| Course Unit Code | 354-0644/01 |
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| Number of ECTS Credits Allocated | 4 ECTS credits |
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| Type of Course Unit * | Compulsory |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | Second Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | Course succeeds to compulsory courses of previous semester |
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| Name of Lecturer(s) | Personal ID | Name |
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| KOT19 | doc. Ing. Tomáš Kot, Ph.D. |
| BOB0001 | prof. Ing. Zdenko Bobovský, PhD. |
| GRU0037 | Ing. Stefan Grushko, Ph.D. |
| OSC0011 | Ing. Petr Oščádal, Ph.D. |
| Summary |
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| Localization, navigation and mapping is an important task of service mobile robotic systems. Students will learn how to create maps of the environment, determine the position of systems based on sensor data and map knowledge and plan movement in this environment. |
| Learning Outcomes of the Course Unit |
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| The graduate of the course will gain an overview of navigation, localization and map creation in robotic systems. He / she acquires knowledge needed for map creation, map localization and navigation in a map. |
| Course Contents |
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1. Basic concepts
2. Sensors in mobile robotics
3. Detection of key features using sensors
4. Map representation
5. Localization - introduction, meaning, uncertainty
6. Localisation methods I
7. Localization methods II
8. Automatic mapping (SLAM)
9. Navigation and trajectory planning
10. Trajectory planning methods I
11. Trajectory planning methods II
12. Trajectory planning methods III
13. Dynamic obstacle avoidance
14. Current trends |
| Recommended or Required Reading |
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| Required Reading: |
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[1] Kolski, S.. Mobile robots: perception & navigation. Mammendorf : Pro literatur, 2007. ISBN: 3-86611-283-1
[2] Mukhopadhyay, S. C. and Gupta, G. S.. Autonomous robots and agents. Berlin : Springer, 2010. ISBN 978-3-540-73424-6
[3] Lentin J. Cacace J.. Mastering ROS for robotics programming: design, build, and simulate complex robots using the Robot Operating System. Birmingham : Packt, 2018. ISBN 978-1788478953
[4] Koubaa, A.. Robot Operating System (ROS) The Complete Reference (Volume 3). s.l. : Springer-Verlag, 2019. ISBN 978-3-319-91590-6
[5] Koubaa, A.. Robot path planning and cooperation: foundations, algorithms and experimentations. S.l. : SPRINGER, 2019, ISBN 978-3-319-77042-0 |
[1] Kolski, S.. Mobile robots: perception & navigation. Mammendorf : Pro literatur, 2007. ISBN: 3-86611-283-1
[2] Mukhopadhyay, S. C. and Gupta, G. S.. Autonomous robots and agents. Berlin : Springer, 2010. ISBN 978-3-540-73424-6
[3] Lentin J. Cacace J.. Mastering ROS for robotics programming: design, build, and simulate complex robots using the Robot Operating System. Birmingham : Packt, 2018. ISBN 978-1788478953
[4] Koubaa, A.. Robot Operating System (ROS) The Complete Reference (Volume 3). s.l. : Springer-Verlag, 2019. ISBN 978-3-319-91590-6
[5] Koubaa, A.. Robot path planning and cooperation: foundations, algorithms and experimentations. S.l. : SPRINGER, 2019, ISBN 978-3-319-77042-0
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| Recommended Reading: |
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[1] Savkin A., Matveev A., Hoy M., Wang Ch.. Safe robot navigation among moving and steady obstacles. Oxford: Elsevier butterworth-hein, 2016. ISBN: 9780128037300
[2] Barrera, A.. Mobile robots navigation. SL : Sciyo.com, 2010. ISBN: 978-953-307-076-6
[3] Fehlman, W. L.. Mobile robot navigation with intelligent infrared image interpretation. Springer, 2014. ISBN 978-1-84882-509-3
|
[1] Savkin A., Matveev A., Hoy M., Wang Ch.. Safe robot navigation among moving and steady obstacles. Oxford: Elsevier butterworth-hein, 2016. ISBN: 9780128037300
[2] Barrera, A.. Mobile robots navigation. SL : Sciyo.com, 2010. ISBN: 978-953-307-076-6
[3] Fehlman, W. L.. Mobile robot navigation with intelligent infrared image interpretation. Springer, 2014. ISBN 978-1-84882-509-3
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| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Graded credit | Graded credit | 100 | 51 |