Additional information / Pre-requisites
Students interested in robotics with application to autonomous vehicles. Voraussetzungen: As a prerequisite, student should have basic knowledge of maths, in particular linear algebra and a bit of optimization. Students will work with a real model car in the robotics lab.
Comments
Content
This class will give an introduction to robotics. It will be structured into the following parts:
- Generating motion and and dynamic control: This chapter will cover coordinate frames, non-holonomic constraints, Ackermann-drive (in analogy to street cars), PID.
- Planning: Planning around obstacles, path finding, Dijkstra, A*, configuration space obstacles, RRTs, lattice planners, gradient methods, potential fields, splines.
- Localization and mapping: state estimation problem, Bayesian filter, Odometry, Particle & Kalman filter, Extended and Unscented Kalman-Filter, simultaneous localization and mapping (SLAM).
- Vision and perception: SIFT, HOG-features, Deformable parts models, hough transform, lane detection, 3d-point clouds, RANSAC .
After these lectures, students will be able to design basic algorithms for motion, control and state estimation for robotics.
The lecture will be in German, accompanying materials in English.
Suggested reading
Literatur:
John J Craig: Introduction to Robotics: Mechanics and Control; Steven LaValle: Planning Algorithms; Sebastian Thrun, Wolfram Burgard, Dieter Fox: Probabilistic Robotics
28 Class schedule
Additional appointments
Wed, 2025-09-24 10:00 - 12:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
A7/SR 031 (Arnimallee 7)
Regular appointments
Wed, 2025-04-16 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-04-23 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-04-30 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-05-07 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-05-14 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-05-21 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-05-28 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-06-04 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-06-11 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-06-18 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-06-25 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-07-02 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-07-09 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-07-16 12:00 - 14:00
Robotik
Lecturers:
Prof. Dr. Daniel Göhring
Location:
T9/Gr. Hörsaal (Takustr. 9)
Wed, 2025-04-16 12:00 - 14:00
Robotik
Wed, 2025-04-23 12:00 - 14:00
Robotik
Wed, 2025-04-30 12:00 - 14:00
Robotik
Wed, 2025-05-07 12:00 - 14:00
Robotik
Wed, 2025-05-14 12:00 - 14:00
Robotik
Wed, 2025-05-21 12:00 - 14:00
Robotik
Wed, 2025-05-28 12:00 - 14:00
Robotik
Wed, 2025-06-04 12:00 - 14:00
Robotik
Wed, 2025-06-11 12:00 - 14:00
Robotik
Wed, 2025-06-18 12:00 - 14:00
Robotik
Wed, 2025-06-25 12:00 - 14:00
Robotik
Wed, 2025-07-02 12:00 - 14:00
Robotik
Wed, 2025-07-09 12:00 - 14:00
Robotik
Wed, 2025-07-16 12:00 - 14:00
Robotik
