Each module contains 3 ECTS. You choose a total of 10 modules/30 ECTS in the following module categories:
- 12-15 ECTS in technical scientific modules (TSM)
TSM modules teach profile-specific specialist skills and supplement the decentralised specialisation modules. - 9-12 ECTS in fundamental theoretical principles modules (FTP)
FTP modules deal with theoretical fundamentals such as higher mathematics, physics, information theory, chemistry, etc. They will teach more detailed, abstract scientific knowledge and help you to bridge the gap between abstraction and application that is so important for innovation. - 6-9 ECTS in context modules (CM)
CM modules will impart additional skills in areas such as technology management, business administration, communication, project management, patent law, contract law, etc.
In the module description (download pdf) you find the entire language information per module divided into the following categories:
- instruction
- documentation
- examination
Mobile robots are complex mechatronic systems often interacting autonomously with their environment.
In the first part, the course provides theoretical fundamentals of mobile robot sensor fusion, planning, localization and mapping with examples in ROS. Tests of these complex systems can be conducted in simulated environments to speed up development and minimize risk of damage. Data from live tests can be recorded for later reuse and analysis as a foundation for further development.
In the second part of the course, students learn how to develop robot software and put it into practice using a practical example on a training robot. This includes real-time control, path planning, odometry, observers, position estimation, path control, etc. In the development process, we use the same development environments and libraries as in our industrial research projects.
Prerequisites
- Linear algebra
- General affinity to mathematics
- Basic feedback control systems
- Basic programming skills
Learning Objectives
This course aims at giving students a deep insight into and theoretical understanding of the inner workings of autonomous mobile systems reinforced by hands-on experience of mobile robots or simulations thereof. At the end of this course students will be able to build mobile robots with autonomous behaviour.
Contents of Module
* Mathematical foundations (short primer)
+ Coordinate transformations, quaternions
* Mobile robot platforms in different environments: air, land, sea
+ Wheeled robots, drones, submarines,
+ Kinematics
+ Typical sensors
+ Control
+ Real-time systems
* Localization
+ Odometry
+ GPS
+ Sensor fusion
* Mapping
+ SLAM & Loop-Closing
* Navigation
+ Planning
+ Obstacle avoidance
+ Trajectory follower
* Advanced Topics
+ Real-time systems & Robot operating system frameworks
+ Modelling & simplification (Simulation & Design)
+ Dynamics of mobile robot platforms.
Teaching and Learning Methods
Ex-cathedra teaching
Case studies
The theory learned in class is applied in exercises
Literature
Siegwart, R. et al. "Introduction to Autonomous Mobile Robots", 2011, 2nd edition, MIT Press.
ISBN 978-0262015356
Download full module description
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