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Introduction - Advanced Robotics - Lecture Slides, Slides of Robotics
This lecture is part of complete lecture series on Advanced Robotics course. Electrical engineering students can get all relevant help from these lectures. This lecture includes: Introduction, Driverless Cars, Mapping, Mobile Manipulatiion, Two Legged Locomation, Autonomous Helicopter Flight
Typology: Slides
2013/2014
1 / 13
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Lecture 1: Introduc.on
n Darpa Grand Challenge: First long-‐distance driverless car compe..on n 2004: CMU vehicle drove 7.36 out of 150 miles n 2005: 5 teams finished, Stanford team won nova-‐race n Darpa Urban Challenge (2007) n Urban environment: other vehicles present n 6 teams finished (CMU won) urban challenge n Google Autonomous Cars n 2010: Mountain View -‐> Santa Monica; >140,000 miles; Lombard, Golden Gate, Tahoe, Pacific Coast Highway n 2012: 300K miles completed autonomously without accident n Ernst Dickmanns / Mercedes Benz: autonomous car on European highways n Paris highway and 1758km trip Munich -‐> Odense, lane changes at up to 140km/h; longest autonomous stretch: 158km (1995) n Maneuvers: parking
Driverless Cars
Kalman filtering, LQR, mapping, terrain & object recogni.on docsity.com
Autonomous Helicopter Flight
[Coates, Abbeel & Ng]
Kalman filtering, model-‐predic.ve control, LQR, system ID, trajectory learningdocsity.com
Two-‐legged locomo.on
[Tedrake +al.]
Policy gradient
Mapping
“baseline” : Raw odometry data + laser range finder scans
[Video from W. Burgard and D. Haehnel]
Mobile Manipula.on
SLAM, localiza.on, mo.on planning for naviga.on and grasping, grasp point
selec.on, visual category recogni.on (speech recogni.on and synthesis)
[Quigley, Gould, Saxena, Ng + al.] docsity.com
Mobile Manipula.on
[Mai.n-‐Shepard, Cusumano-‐Towner, Lei, Abbeel, 2010]
localiza.on, mo.on planning for naviga.on and grasping, grasp point selec.on,
visual recogni.on docsity.com
n Star.ng op.mal control on Tuesday n Check out the webpage! n Sign up on piazza! n Come talk to me now about any lingering ques.ons you might have