The homework assignments for this course require basic knowledge in Python. Therefore, you should attend the Python Crash Course Video Playlist before diving into the course. Tutorials will be held in person or via Zoom, depending on recent developments.
Week 1
15.10.2021
Mobile Sensing and Robotics – Welcome (Cyrill Stachniss, 2021)
Welcome to the Course
Mobile Sensing and Robotics Course
Cyrill Stachniss, 2021
Probability Primer for Probabilistic Robotics (Cyrill Stachniss)
Probability Primer for Probabilistic Robotics
Cyrill Stachniss
Week 2
22.10.2021
Bayes Filter (Cyrill Stachniss)
Bayes Filter
Cyrill Stachniss
Week 3
29.10.2021
Occupancy Grid – 5 Minutes with Cyrill
Occupancy grid maps explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Occupancy Grid Maps (Cyrill Stachniss)
Occupancy Grid Maps
Mobile Sensing and Robotics Course
Cyrill Stachniss and Nived Chebrolu
Week 4
5.11.2021
Robot Locomotion (Nived Chebrolu)
Robot Locomotion
Nived Chebrolu
Week 5
12.11.2021
Motion Models (Nived Chebrolu)
Probabilistic Motion Models for Mobile Robotis
Nived Chebrolu
Week 6
19.11.2021
Observation Models (Cyrill Stachniss)
Basic Observation Models for Range Sensors
Cyrill Stachniss
Submission of “ex04-motion-model”
Week 7
26.11.2021
Kalman Filter – 5 Minutes with Cyrill
The Kalman filter explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Further reading:
Link
Kalman Filter & EKF (Cyrill Stachniss)
Kalman Filter and Extended Kalman Filter (EKF)
Cyrill Stachniss
Submission of “ex05-observation-model”
Week 8
3.12.2021
Localization – 5 Minutes with Cyrill
Localization explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Robot Localization (Cyrill Stachniss)
Robot Localization – An Overview
Cyrill Stachniss
EKF Localization (Nived Chebrolu)
EKF Localization
Nived Chebrolu
Week 9
10.12.2021
Particle Filter – 5 Minutes with Cyrill
The particle filter explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss
Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records
Particle Filter and Monte Carlo Localization (Cyrill Stachniss)
Particle Filter and Monte Carlo Localization (MCL)
Cyrill Stachniss
Submission of “ex06-EKF-localization”
Week 10
17.12.2021
Robot Control (Nived Chebrolu)
Robot Control
Nived Chebrolu
Submission of “ex07-monte-carlo-localization”
Week 11
7.01.2022
Model Predictive Control – Part 1: Introduction to MPC (Lasse Peters)
Lasse Peters, Fall 2021
Submission of “ex08-control”
Week 12
14.01.2022
Model Predictive Control – Part 2: Numerical Methods for MPC (Lasse Peters)
Lasse Peters, Fall 2021
Week 13
21.01.2022
Robot Motion Planning using A* (Cyrill Stachniss)
Robot Motion Planning using A*
Cyrill Stachniss
Week 14
28.01.2022
Markov Decision Processes for Planning under Uncertainty (Cyrill Stachniss)
Markov Decision Processes (in short MDPs) for Planning under Uncertainty
Cyrill Stachniss
Week 15
4.02.2022
Outlook: Further Lectures Offered at IPB
Cyrill Stachniss