Introduction to mobile robotics

 

Contacts:

• Olivier Aycard (ENSE3 + PHELMA).
• Philip SCALES (Master of computer science).

 

Outline of lectures

• Lecture 1: introduction to mobile robotics

  1. Introduction to mobile robotics;
  2. An introduction to ROS (in french).
      

• Lecture 2: introduction to perception + advanced perception (DATMO)

  1. Introduction to perception + advanced perception (DATMO);
  2. Practical exercise on clustering.
      

• Lecture 3: advanced perception (localization)

  1. Introduction to localization + video;
  2. Formalization of localization problem: Discrete bayesian filter;
  3. A very complete tutorial on localization/mapping/SLAM could be found here;
  4. Web page of Dieter Fox could be found here.

Outline of labs

• You can download all the source files needed for the labs: here and the configurations files for the labs: here

• PC for the labs and projects

• Troubleshooting help for labs
   

• Lab 1: tutorial on ROS

  1. Display of laser data with ROS + video;
  2. Tutorial on ROS;
  3. Compile and run nodes on ROS;
  4. Lab on basic perception;
  5. Connection to robair.

• Lab 2: basic "follow me" behavior (perception part)

  1. Organization of lab on "follow me" behavior;
  2. Detection part + tests;

• Lab 3: basic "follow me" behavior (control part, ONLY for students of computer science master) + advanced "follow me" behavior

  1. Control part: rotation (ONLY for students of computer science master);
  2. Tracking part;
  3. Advanced control part: rotation + translation (ONLY for students of computer science master).

• Lab 4: lab on localization

  1. Localization with ROS;
  2. Map of UFR IM2AG (2nd floor) + bag file to test localization;

 

Complements (to be updated)

Examples of commercial robots:

 

1. Google car + tesla.
2. Industrial collaborative robots;
3. Robot trash;
4. Robot cleaner;
5. Robot carrier and follower + here;
6. Robot delivery;
7. Robot Helper in the Restaurant;
8. Companion robots + buddy and pepper;
9. Misc.

• lecture on control + lab on control (updated on 17/02/2020, ONLY for students of computer science master)

  1. Lecture on control
     1. Introduction to control;
     2. A very complete tutorial on action/control could be found here;
     3. How to implement a PID controller (in french) ?
  2. Lab on control
     1. Follow me behavior (control part);
     2. Tests of rotation node + video;
     3. Tests of translation node + video.

• week 4: decision part of follow me behavior (updated on 17/02/2020)

  1. Architecture of the Follow me behavior;
  2. Follow me behavior (decision part);
  3. Tests of decision+action nodes + video1 + video2;
  4. Tests of the complete architecture + video1 + video2.
  5. A very complete tutorial on decision/planning could be found here or here.

• week 6 (updated on 04/03/2020):

  1. Introduction to projects;
  2. Some examples of projects results (2018-19)
  3. Technical tips;
     1. Combination of rotation and translation;
     2. surveillance/guide robot.

An example of exam could be found here.

 

Report

•  Report;

   

• More information about localization and testing process.