The course will consider the algorithms that form the basis of modern mobile robots: localization algorithms (Kalman filter, particle filter), path planning (A* algorithm and its modifications, Rapidly-exploring random tree, Dynamic Window approach and others), control algorithms (PID-controller, trajectory follower). The kinematic schemes of various types of wheeled robots and proba- bilistic observation models of common sensors (cameras, ultrasonic sensors, LI- DARs) will also be considered. Practical part of the course will include hands-on experience with popular software framework for robots – Robot Operating Sys- tem (ROS). The course will cover the basic terms and concepts of programming using ROS, as well as the tools included in ROS for visualization, simulation, and debugging of various aspects of robotics software. As part of team projects and homework assignments, we will implement navigation and control algorithms and test them on simulations of robots that are part of ROS.
Course content is described in Syllabus.
Oleg Shipitko
Telegram: @oleg_shipitko
Andrey Sokolov
Telegram: @AndyXPV
| Week | Lecture Content | Seminar Content | Materials |
|---|---|---|---|
| 01 | Introduction to Robotics | Week 1 materilas | |
| 02 | Localization | Intro to ROS, basic concepts, first launch | Week 2 materilas |
| 03 | Kinematics. Probabilistic motion models | ROS filesystem, package creation, comuunication types | Week 3 materilas |
| 04 | Probabilistic observation models | Services, actions, parameters, roslaunch | Week 4 materilas |
| 05 | Mapping | Namespaces in ROS, time, debugging and visualization tools | Week 5 materilas |
| 06 | Path and Motion Planning | TurtleBot and Navigation | Week 6 materilas |
| 07 | Control algorithms | Week 7 materilas |
Course project requirements and ideas for project topic are described in project description and topics.pdf.