Lecture presentations (in Slovak)

Kinematics  Introduction
(pdf)


Kinematics  Jointbased structures
(pdf)

video


Kinematics  Wheelbased structures
(pdf)

video1,
video2


Motion control
(pdf)


ROS (Robot Operating System)
(pdf)


Navigation
(pdf)


Environment modelling
(pdf)


Localization
(pdf)


Path planning
(pdf)



Motivational material
Topics
 Robot operating system
 characteristics of ROS
 ROS on file system level
 ROS on computational graph level
 ROS communication
 tools for introspection, visualization, modeling and simulation
 Kinematics  introduction
 pose and its representation
 homogeneous transformations
 Kinematics  joint structures
 joints and their types
 lower pair joints
 denavithartenberg representation
 direct kinematics problem and its solution
 inverse kinematics problem and its solution
 robot Nao and its joints
 Kinematics  wheeled structures
 wheel type and geometry
 stability, maneuverability and controllability
 mobile robots kinematics
 direct kinematics model of a simple differential robot
 kinematic wheel constraints
 Motion control
 trajectory types
 explicit trajectory following
 hybrid system usage
 velocity vector arrays
 Environment modeling
 model characteristics
 occupancy grid maps
 usage of lidar/sonar for model building
 line maps
 topological maps
 landmark maps
 Localization
 localization characteristics and tasks
 odometry and uncertainty
 odometry formula for a simple differential robot
 mapbased localization
 belief and probabilistic robotics
 markov localization
 formulas for markov localization
 landmark/beaconbased localization
 Path planning
 characteristics and basic approaches
 configuration space
 graph construction methods
 avoiding obstacles
