354-0644/02 – Localization, Navigation and Mapping (LNaTM)

Gurantor departmentDepartment of RoboticsCredits4
Subject guarantordoc. Ing. Zdenko Bobovský, PhD.Subject version guarantordoc. Ing. Tomáš Kot, Ph.D.
Study levelundergraduate or graduateRequirementCompulsory
Year2Semesterwinter
Study languageEnglish
Year of introduction2021/2022Year of cancellation
Intended for the facultiesFSIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
BOB0001 doc. Ing. Zdenko Bobovský, PhD.
KOT19 doc. Ing. Tomáš Kot, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Graded credit 2+2

Subject aims expressed by acquired skills and competences

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.

Teaching methods

Lectures
Tutorials
Project work

Summary

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.

Compulsory literature:

[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

Recommended literature:

[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

Way of continuous check of knowledge in the course of semester

Continuous check and point evaluation of exercise results. The result is a semestral project.

E-learning

Other requirements

There are no additional requirements for the student.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

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

Conditions for subject completion

Full-time form (validity from: 2021/2022 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of pointsMax. počet pokusů
Graded credit Graded credit 100  51 3
Mandatory attendence participation: An attendance on the seminars is minimum 80%.

Show history

Conditions for subject completion and attendance at the exercises within ISP:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2022/2023 (N0719A270010) Robotics (S03) Service Robotics P English Ostrava 2 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

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