Autonomous Robotic Systems / Syllabus
Date  Content  Readings  Slides  Background Information 
Output 
07/02  Course Introduction; Modelbased & Modelfree approaches; Swarm robotics; Introduction to ROS  CH1_Bekey Chapter 1 of the textbook (Thrun et al.) ROS_paper 
Introduction to ROS 
Installation Instructions ROS_Tutorials Programming Robots with ROS Companion code of the “Programming Robots with ROS” book Learning ROS for Robotics Programming 
Assignment #1: Swarm robotics Due: 13/02 at 23:59 
14/02  Genetic Algorithms; Central Pattern Generators; Particle Swarm Optimization vs GA  Assignment #2: Genetic Algorithms Due: 06/03 at 23:59 

21/02  GA + Learning; Optimizing Body and Mind  
07/03  Bayes Filter; Kalman Filter; Localization  bayeslocationubicomp03 fox2003bayesian fox98active Chapter 2 of the textbook (Thrun et al.) kalman_intro maybeck_ch1 Chapter 3 of the textbook (except 3.4 and 3.5) 
Lecture2part1 lecture2part2 
Kalman original paper (1960) Notes on Univariate Gaussian Distributions and OneDimensional Kalman Filters 
Assignment #3: Bayes Filter Due: 20/03 at 23:59 
14/03  Motion & Sensor Models; Particle Filter  Chapters 5 and 6 of the textbook; particlechapter particletutorial2 Chapter 4 of the textbook, starting from 4.3 Chapter 8 of the textbook, 8.3.1 and 8.3.2 
lecture1okt122 Lecture2part1 lecture2part2 

21/03  SLAM  Chapter 10 of the textbook  lecture_slam SLAM 
Assignment #4: Particle Filter Due: 27/03 at 23:59 

28/03  Exam Preparation 