KI-B-6: Autonome Robotik (WS20/21)🤖
Topic outline
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In AuRo we will study computational principles of autonomous robots. On the practical side we will introduce ourselves to ROS — a framework for robot software using Turtlebot3s.
This course will be held by me, Gökçe
Class Time & Room
Until seven-day infection count falls under 35 only-online classes.
Thursdays: 14:00 - 15:30 lecture in K210, 15:50 - 19:00 lab in J103
In case of technical difficulties with our online classroom: Fallback online classroom
Remote Desktop for ROS
For the lab exercises use joan.th-deg.de. To create the remote desktop connection provide your university credentials (not your email), then click
Connect. The connection is successful when you see a window namedTerminal.Other applications like text editor or browser you find by clicking on the
icon above.Do not forget to run
rosenveach time you want to run ROS applications on a newly opened terminal.Copying some text from outside of the remote desktop and pasting it to the remote desktop does not work reliably on Firefox. Either start a browser on the remote desktop or use Chrome.
Use TB3 template for programming the TB3.
Class Recordings
Each recording with annotated PDFs should be available in the evening after the class in our 📡 Online classroom -> room recordings
The recording for 14th January is in Fallback online classroom
Textbook & slides
- slides as PDF - updated regularly
- slides as HTML - useful for the lab. Compact and copy paste is more convenient. Click on the relevant rst file.
Most of my lecture notes are based on Prof. Nikolaus Correll's book — Introduction to Autonomous Robots.
Other helpful content:
Additional resources
- ROS Robot Programming
- edX course: Introduction to Autonomous Mobile Robots
- Modern Robotics: Mechanics, Planning, and Control
- Linux command line
Exam
Written exam 90 min
Class style
Each week we will have one lecture with everyone together and two labs with smaller groups. Each week we will discuss the slides together. The slides have exercises poured in between which will motivate discussions. At the end of most slidesets you will find exercises. To the end of the class we will discuss your questions about these exercises.
The lectures will be seminar-like, which means that our class involves discussions and interactions rather than only lecturing. So how successful we will use our time depends also on you. I expect that you prepare the scheduled content of the lectures before the class and come with questions.
Debates
To the end of the semester we will have group debates. See Debates section for details.
Questions
Please refrain from mailing me directly if you have a question that could be interesting also for others. Use Moodleoverflow:
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View Submit feedback
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- TB3 maze challenges
- optional: look at exam practice problems below
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G Date Lecture notes Lecture Lab exercise solutions α 08 Oct. - PDF HTML - Introduction HTML Intro. to our ROS Env. β 15 Oct. - PDF HTML - Locomotion and Manipulation HTML Gazebo α 22 Oct. - PDF HTML - Coord. Sys. and Frames HTML ROS Tut. - CLI tools PDF HTML Designing a robot β 29 Oct. - - α 05 Nov. - - HTML ROS Tut. - Client libs PDF HTML DOF and frame of reference β 12 Nov. - - α 19 Nov. - - Forward Kinematics β 26 Nov. - - PDF HTML Forward kinematics PDF HTML 03 Dec. - - 10 Dec. - - PDF HTML ROS and nav. a labyrinth PDF HTML 17 Dec. - - Path Planning TB3 maze challenges (use TB3 template) 14 Jan. - - 21 Jan. - - -
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x, y, and z axes are represented by red, green, and blue, respectively
- example: many frames of the robot as seen in
rviz2program found in ROS - Why are X, Y and Z axes represented by Red, Green, and Blue?
- example: many frames of the robot as seen in
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- robotics algorithms visualized – PythonRobotics
- exotic locomotion example - Worm bot
- New JPL Rover Concept
- Fertilizer robot with sniper-like precision from 6:50
- cockroaches being modified with cybernetic implants
Walmart Gives Up On Stock-Checking Robots
- "according to a quote in the Wall Street Journal’s article about the decision, shoppers reacted negatively to sharing the aisle with the roving machines."
- Kinematics - 6 DOF visualized | Serial robot vs. Parallel robot
- What are robot singularities?
- ROS2 workshop for Robocup
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Example topics:
- Robots putting humans out of work is a risk that needs to be mitigated.
- As robots from autonomous lawnmowers to robotic cars are sold as “intelligent systems”, liability for robots should entirely lie by its manufacturer.
- Robots should have the capability to autonomously discharge weapons / drive around in cities (autonomous cars).
- Intelligence is only possible with embodiment
- Robots do not need to be as cognitive as humans in order to be useful as making the environment intelligent is sufficient.
- Robots need to be made differently than from links, joints, and gears in order to reach the agility of people
These topics were taken from Correll's course. You can propose additional topics below.
The arguments delivered in the debates may be exam material.
Rules
The debates will be in Oxford-style and should adhere to the following rules:
- one pro and one con-group (groups of two)
- each group presents seven minutes then answers questions from the audience
- each group delivers two minute closing arguments
- the majority vote from the audience decides the winner