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- Design an appropriate sensor system and select techniques to explore unknown spaces
- Appraise the use of different map representations in a given scenario
- Apply the appropriate coordinate frames and techniques from robot perception to robot navigation, e.g., path planning
- Analyse and evaluate foundations of cognitive architectures
- Design ontologies for robot behavior in a given environment
- Evaluate the error components of navigation systems and compute an overall accuracy
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- Models of semantic spaces
- Computational forms of reasoning
- Cognitive aspects of human-robot interaction
- Sensors, Sensor properties, Error sources
- Coordinate frames and transformation – Earth inertial, ECEF, navigation, body
- Map representations, scan matching, next best view planning, loop closure
- ICP-SLAM, GraphSLAM, Continuous-time SLAM
- Inertial navigation, Lidar-inertial sensor fusion (practical)
- Multi-sensor systems, Sensor fusion basics, Complementary characteristics of sensors
- Global Navigation Satellite Systems (GNSS) – principles of pseudo range and carrier phase measurements, error components, measurement modes
- Pathfinding
- Application examples
Assessment
Written exam (80%, minimum grade 5.0)
Lidar-inertial practical & assignment (20%, minimum grade 5.0)
2x individual Essay on robot cognition (pass/fail)
Additional information
Implementation of CBL: students will be asked to design the perception, cognition, and navigation functionality for exploration of an assigned target domain (or space).
Implementation of ELSE: Given a specific application, e.g., one designed in the CBL process, special emphasis is given to the legal issues related to responsibility in interaction with humans.
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| MSc Robotics entry-level requirements on Linear Algebra and Calculus |
| Master Systems and Control |
| | Verplicht materiaalHandouts| Lecture notes, handed out during course |
| Book| Bruno Siciliano, Oussama Khatib (eds), Springer Handbook of Robotics. ISBN: 978-3-319-32552-1 |
| Book| Book chapter: Indoor 3D: Overview on Scanning and Reconstruction Methods (Section 3.5 on ICP SLAM) in: Werner M., Chiang YY. (eds) Handbook of Big Geospatial Data. Springer, Cham. ISBN: 978-3-030-55462-0 |
| Book| Selected chapters and sections in: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, A. Noureldin, T. Karamat, J. Georgy, 2011, Springer-Verlag Berlin Heidelberg. ISBN: 978-3-642-30465-1 |
| Articles| Halford, G. S., Wilson, W. H., & Phillips, S. (2010). Relational knowledge: The foundation of higher cognition. Trends in Cognitive Sciences, 14(11), 497–505. |
| Articles| Zender, H., Martínez Mozos, O., Jensfelt, P. Kruijff, G.-J.M., & Burgard, W. (2008). Conceptual spatial representations for indoor mobile robots. Robotics and Autonomous Systems, 56(6), 493-502. |
| Articles| Kruijff, G.-J.M., Janicek, M., & Zender, H. (2012). Situated communication for joint activity in human-robot teams. Intelligent Systems, IEEE, 27(2), 27- 35. |
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Articles| Grisetti, G., Kümmerle, R., Stachniss, C., & Burgard, W. (2010). A tutorial on graph-based SLAM. IEEE Intelligent Transportation Systems Magazine, 2(4), 31-43. |
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WerkvormenAssessment| Aanwezigheidsplicht | | Ja |
| Hoorcollege
| Opdracht| Aanwezigheidsplicht | | Ja |
| Practicum| Aanwezigheidsplicht | | Ja |
| Presentatie(s)| Aanwezigheidsplicht | | Ja |
| Vragenuur
| Zelfstudie geen begeleiding
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ToetsenWritten exam, Assignment, Essay
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