Course detail
Robotics (in English)
FIT-ROBaAcad. year: 2024/2025
Basic components of the stationary industrial robots. Kinematics. Solution of the inverse kinematic task. Equations of motion. Path planning. Elements and structure of the mobile robots. Models and control of mobile robots. Sensoric systems of mobile robots. Localization and navigation. Environment maps. Robot control.
Language of instruction
Number of ECTS credits
Mode of study
Guarantor
Department
Offered to foreign students
Entry knowledge
Rules for evaluation and completion of the course
- Graded laboratories.
- Mid-term written test.
- Evaluated project.
There are compulsory projects and laboratories that follow on from the projects.
Aims
To inform students about current state and future of robotics. Also, to inform students about peculiarities of robotic systems and prepare them for introduction, creation and maintaining of robotic systems into practice.
The students acquire knowledge of current state and trends in robotics. Also, they acquire practical knowledge from construction, programs and use of robots.
Study aids
Prerequisites and corequisites
Basic literature
Choset, H., Lynch, K. M., Hutchinson, S. et al.: Principles of Robot Motion. MIT, Press, 2005. ISBN 0-262-03327-5. (EN)
Siegwart, R. a Nourbakhsh, I. R.: Introduction to Autonomous Mobile Robots. MIT Press, 2011. ISBN-13: 978-0262015356 (EN)
Šolc, F.: Robotické systémy, VUT v Brně, 1990 (CS)
Thrun, S., Burgard, W. a Fox, D.: Probabilistic Robotics. MIT Press, 2005. ISBN 0-262-201623 (EN)
Recommended reading
John M. Holland: Designing Autonomous Mobile Robots: Inside the Mind of an Intelligent Machine, 2003, Newnes, ISBN-13 978-0750676830
Alex Ellery: Planetary Rovers: Robotic Exploration of the Solar System, Springer, 2016, ISBN-13 978-3642032585
Beard and McLain: Small Unmanned Aircraft: Theory and Practice, Princeton, 2021, ISBN-13 978-0691149219
Dorf and Bishop: Modern Control Systems, Pearson Hall, 2011, ISBN-13 978-0136024583
Franklin, Powel and Emami-Naeini: Feedback Control of Dynamic Systems, Pearson, ISBN13 978-0-13-349659-8
Gary Bradsky and Adrian Kaehler: LearningOpenCV, O'Reilly, 2008, ISBN 978-0-596-51613-0
Grewal, Andrews and Bartone: Global Navigation Satellite Systems, Inertial Navigation, and Integration, Wiley, 2013, ISBN-13 978-1118447000
Hassan K. Khalil: Nonlinear Systems, Pearson, ISBN-13 978-0130673893
Kaplan and Hegarty: Understanding GPS/GNSS: Principles and Applications, Artech House, 2017, ISBN-13 978-1630810580
Ogata: Modern Control Engineering, Pearson, 2009, ISBN-13 978-0136156734
Ronald C. Arkin: Behavior-Based Robotics, Bradford Books, 1998, ISBN-13 : 978-0262529204
Russel and Norvig: Artificial Intelligence: A Modern Approach, Pearson, 2009, ISBN-13 978-0136042594
Sayed: Fundamentals of Adaptive Filtering, Wiley, 2003, ISBN-13 978-0471461265
Elearning
Classification of course in study plans
- Programme IT-MGR-1H Master's
specialization MGH , 0 year of study, winter semester, recommended course
- Programme MIT-EN Master's 0 year of study, winter semester, elective
- Programme MITAI Master's
specialization NGRI , 0 year of study, winter semester, elective
specialization NADE , 0 year of study, winter semester, elective
specialization NISD , 0 year of study, winter semester, elective
specialization NMAT , 0 year of study, winter semester, elective
specialization NSEC , 0 year of study, winter semester, elective
specialization NISY up to 2020/21 , 0 year of study, winter semester, elective
specialization NNET , 0 year of study, winter semester, elective
specialization NMAL , 0 year of study, winter semester, elective
specialization NCPS , 0 year of study, winter semester, elective
specialization NHPC , 0 year of study, winter semester, elective
specialization NVER , 0 year of study, winter semester, elective
specialization NIDE , 0 year of study, winter semester, compulsory
specialization NISY , 0 year of study, winter semester, elective
specialization NEMB , 0 year of study, winter semester, elective
specialization NSPE , 0 year of study, winter semester, elective
specialization NEMB , 0 year of study, winter semester, elective
specialization NBIO , 0 year of study, winter semester, elective
specialization NSEN , 0 year of study, winter semester, elective
specialization NVIZ , 0 year of study, winter semester, elective
Type of course unit
Lecture
Teacher / Lecturer
Syllabus
- History, evolution, and current trends in robotics. Introduction to robotics. Robotic applications. Robotic competitions.
- Kinematics and statics. Direct and inverse task of kinematics.
- Path planning in the cartesian coordinate system.
- Effectors,sensors and power supply of robots. Applications of the cameras, laser distance meters, and sonars.
- Midterm test.
- Basic parameters of the mobile robots. Model and control of the wheel mobile robots.
- Robotic middleware. Robot Operating System (ROS), philosophy of ROS, nodes and communication among them.
- Maps - configuration space and 3D models.
- Probability in robotics. Introduction. Bayesian filtering, Kalman and particle filters. Model of robot movements and measurement model.
- Methods of the global and local localization. GPS based localization, Monte Carlo method.
- Map building. Algorithms for simultaneous localization and mapping (SLAM).
- Trajectory planning in known and unknown environment. Bug algorithm, potential fields, visibility graphs and probabilistic methods.
- Introduction to control and regulation.
Laboratory exercise
Teacher / Lecturer
Syllabus
- Basic work with Arduino
- Working with sensors
- Motor control
- Basics of ROS, sensor reading
- Advanced work in ROS
- Final task
Project
Teacher / Lecturer
Syllabus
Project implemented on the robot from FIT.
Elearning