ASL
Autonomous Systems Lab
Mobile Robots | Introduction and Lecture Overview
Autonomous Mobile Robots
Roland Siegwart
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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ASL
Autonomous Systems Lab
Autonomous mobile robot | the key questions
 The three key questions in Mobile Robotics
 Where am I ?
 Where am I going ?
 How do I get there ?
?
 To answer these questions the robot has to
 have a model of the environment (given or autonomously built)
 perceive and analyze the environment
 find its position/situation within the environment
 plan and execute the movement
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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2
ASL
Autonomous Systems Lab
Autonomous mobile robot | the see-think-act cycle
knowledge,
data base
mission
commands
“position“
global map
Cognition
Path Planning
environment model
local map
path
Information
Extraction
Path
Execution
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Perception
Localization
Map Building
Real World
Environment
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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3
ASL
Autonomous Systems Lab
Motion Control | kinematics and motion control
 Wheel types and its constraints
 Rolling constraint
 no-sliding constraint (lateral)
 Motion control
⋯
⋮
, ,
, ,
?
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
4
ASL
Autonomous Systems Lab
Autonomous mobile robot | the see-think-act cycle
knowledge,
data base
mission
commands
“position“
global map
Cognition
Path Planning
environment model
local map
path
Information
Extraction
Path
Execution
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Perception
Localization
Map Building
Real World
Environment
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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5
ASL
Autonomous Systems Lab
Perception | sensing
 Laser scanner
 time of flight
Laser
scanners
GPS
IMU
Omnidirectional
camera
Laser scanner
 Camers
object
Lens
Focal
Plane
Standard
camera
Security
switch
Focal Point
Focal Length: f
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Wheel
encoders
Introduction | Lecture Overview
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6
ASL
Autonomous Systems Lab
Perception | information extraction
 Filtering / Edge Detection
 Keypoint Features
 features that are reasonably invariant to
rotation, scaling, viewpoint, illumination
 FAST, SURF, SIFT, BRISK, …
1
5
1
1
4
3
1
2
1 1 2
6
3
4
5
6
C
1
1
7
1 9 8
0
Image from [Rosten et al., PAMI 2010]
 Keypoint matching
 BRISK example
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
7
ASL
Autonomous Systems Lab
Autonomous mobile robot | the see-think-act cycle
knowledge,
data base
mission
commands
“position“
global map
Cognition
Path Planning
environment model
local map
path
Information
Extraction
Path
Execution
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Perception
Localization
Map Building
Real World
Environment
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
8
ASL
Autonomous Systems Lab
Localization | where am I?
 SEE: The robot queries its sensors
→ finds itself next to a pillar
 ACT: Robot moves one meter forward
 motion estimated by wheel encoders
 accumulation of uncertainty
 SEE: The robot queries its sensors
again → finds itself next to a pillar
 Belief update (information fusion)
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
9
ASL
Autonomous Systems Lab
Autonomous mobile robot | the see-think-act cycle
knowledge,
data base
mission
commands
“position“
global map
Cognition
Path Planning
environment model
local map
path
Information
Extraction
Path
Execution
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Perception
Localization
Map Building
Real World
Environment
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
10
ASL
Autonomous Systems Lab
Cognition | Where am I going ? How do I get there ?
Goal
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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ASL
Autonomous Systems Lab
Cognition | Where am I going ? How do I get there ?
 Global path planning
 Graph search
 Local path planning
 Local collision avoidance
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
12
ASL
Autonomous Systems Lab
Autonomous mobile robot | the see-think-act cycle
knowledge,
data base
mission
commands
“position“
global map
Cognition
Path Planning
environment model
local map
path
Information
Extraction
Path
Execution
raw data
see-think-act
Sensing
actuator
commands
Acting
Motion Control
Perception
Localization
Map Building
Real World
Environment
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
|
13
ASL
Autonomous Systems Lab
Autonomous mobile robot | about the course
 Around 30 short video lectures that we call “segments”.
 The “segments” are complemented with:
 short questions for each segment to verify your understanding and progress
 various exercises
 videos showing the current state-of-the-art in the field
 Based on lecture at ETH Zurich
 Textbook
„Introduction to Autonomous Mobile Robots“
Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza
The MIT Press
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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ASL
Autonomous Systems Lab
Autonomous mobile robot | your teachers
Roland Siegwart, ETH Zurich
Paul Furgale, ETH Zurich
Marco Hutter, ETH Zurich
Margarita Chli, Univ. of Edinburgh
Davide Scaramuzza, Univ. of Zürich
Martin Rufli, IBM Research
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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15
ASL
Autonomous Systems Lab
Autonomous mobile robot | we invite you to join the course
We look forward having you as our students in
this course
Autonomous Mobile Robots
Margarita Chli, Paul Furgale, Marco Hutter, Martin Rufli, Davide Scaramuzza, Roland Siegwart
Introduction | Lecture Overview
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