Introduction to Autonomous Systems (Lecture)

Lecturer (assistant)
Duration2 SWS
TermWintersemester 2016/17
Position within curriculaSee TUMonline
DatesSee TUMonline

Admission information

Objectives

Understanding of problems and approaches in autonomous robotics, fostering of capacity of teamwork, efficient and problem-oriented approaching of projects in a team.

Description

Introduction: automated and autonomous human centered technical systems, semi autonomy, autonomous behaviour - perception: multisensor fusion, localization, navigation and mapping, obstacle recognition and detection; - planning and actuation: task decomposition, reactive behaviour, preplanned knowledge and skill based behaviour, actuator control; knowledge base: facts and procedures, acquisition, exploration, skill transfer, learning; - architectures: behavioural principles, expert systems, knowledge bases, multi level control concepts; - applications: autonomous mobile service robots, homanoid walking robots, telepresence systems.

Prerequisites

Programming in C/C++ or Java Fundamentals of control engineering and robotics The following modules should be complete before participation: Control systems 1 Fundamentals of Intelligent Robots Project Course C++

Examination

mplications of the problem statement and the interdependency of multiple modules in autonomous robots are illustrated by practical implementation and analysis of the system. Thus, the course introduces three equally weighted assignments: 1) a lecture introducing the fundamental concepts of autonomous systems, concluded by an oral exam; 2) a practical assignment where self-selected topics of the lecture are implemented in groups; 3) a final presentation, illustrating results and insights from the practical assignment to course members.

Recommended literature

Further information can be found in the following works: - R. Siegwart and I. R. Nourbakhsh, Autonomous Mobile Robots, MIT Press 2004. - S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, MIT Press 2005. - S. M. LaValle, Planning Algorithms, Cambridge University Press 2006, http://planning.cs.uiuc.edu/ - M. Wooldridge, An Introduction to MultiAgent Systems, Wiley 2009

Links