Advanced Embeded Robotics PPT and PDF SLIDES

Advanced Embeded Robotics
Instructor: Marke A.Perkowski
Textbook: Embedded Robotics , Thomas Braunl
Download Slides from here

PROPOSITIONAL LOGIC AND MODAL LOGIC IN ROBOTICS.

1. introduction to logic.


2. Basic Logic.


3. Reasoning Agents.


4. Representation and Logic.


5. First Order Logic. ADDITIONAL.


6. Boolean Logic.


7. Robot Morality and Review of classical logic.


8. Introduction to Satisfiability.


9. Wumpus world in Ppropositional logic.


10. A muddy children and intro to modal logic.


11. Wise Men, Muddy Children, Logic Puzzles and Modal Logic.


12. The Narrow Bridge Universe.


13. sum and product problem.

KNOWLEDGE REPRESENTATION AND PLANNING WITH FIRST ORDER LOGIC.

1. Introductio to Knowledge representation.


2. Introduction to Planning.


3. From propositional to predicate logic.


4. First order logic.


5. Inference in first order logic.


6. Examples of FIRST ORDER theorem-proving and Colonel West.


7. Artificial Intelligence in Logic. Prolog Language Tutorial.


8. ROBOT MORALITY. An easy introduction.


9. Prolog Planning Monkey and Banana.


10. Modal and Deontic Logic Derivations.

Mobile robots.

1. Class about autonomous mobile robots. In PDF.


2. Homework in mobile robot kinematics. In PDF format.


3. Measurement and correction of systematic odometry errors in mobile robots. Paper in PDF format.


4. Paper in PDF. Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots.

PROBABILISTIC ROBOTICS. LOCALIZATION. PLANNING. MAPPING.

Robot Localization and related topics.

1. Mobile robot positioning using sensor. In PDF.


2. Paper in PDF about Monte Carlo localization for mobile robots.


3. Paper on Experimental Comparison of localization methods in PDF.


4. Bayesian estimation and Kalman filtering: A Unified framework for Mobile Robot Localization. Paper in PDF.


5. Fingerprint for mobile robot localization in PDF.


6. Dynamic Markov localization approach, by Burgard, Derr, Fox and Cremers. Paper in PDF format.

• ·  Thesis by Philip Kedrowski about Self-building global maps for autonomous navigation. In PDF format.


• Lecture from CMU about Mapping. Slides in PPT format.

Robot Path Planning and related topics.

1. Planning-to-move.ppt Navigation and Metric Path Planning.


2. Lecture from CMU about Path planning for mobile robots. Slides in PDF format.


3. Paper about path planning for a mobile robot. In PDF.


4. New Paradigm for robot learning. In PDF.


5. Paper about fast obstable avoidence based on vector field histogram. In PDF.

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STATIONARY ROBOTS.

1. Motion Planning for stationary robots.

1. Motion planning methods good for stationary robot with hands. In PDF.


2. Motion Planning that may be applied to any kind of robots. PDF.

ROBOT SOCCER AND SIMILAR IMPROVISATIONS.

1. Robot soccer competitions. Introduction to Robot Vision. Slides in PPT.


2. Vision Guided Motion. Slides in PDF.


3. Robot Soccer. Birgit Graf, student of Prof. Braunl. Here you can learn about Robot Soccer and their vision system in full detail. In PDF format.

ADVANCED PRACTICAL ALGORITHMS.

Matrix Calculations

1. Fast Parallel Algorithms for Matrix problems. Slides in PPT Format.

ROBOT COMPETITIONS, ROBOT TEAMS, AND ROBOT SOCIETIES.

1. Paper about autonomous driving mobile robot competitions. In PDF format.


2. Technical Activities of RAS. Slides in PPT.


3. A Probabilistic Approach to Collaborative Multi-Robot Localization. Paper in PDF.


4. Heterogeneous Team of Modular Robots for Mapping and Exploration. Paper in PDF by Robert Grabowski.


5. Lecture from CMU about coordination using search. In PDF format.


6. Lecture from CMU about developing autonomy for robots in teams. Slides in PDF format This has applications to robot soccer and robot theatre.


7. Paper about robot colony for entertainment. In PDF.

VARIOUS ROBOTIC ARCHITECTURES.

Behavior Based Robotics and Biological Models.

1. Slides in PPT about behavior based robot design. We discussed several similar ideas in class.


2. Robots and biological intelligence. PDF.


3. From Sensory Substitution to Situated Robots. Slides in PPT.

Emotional Robots.

1. Slides in PPT by Mark Brosnan about Affective computing. This material related to class project about robot theatre.

Evolutionary Robots.

1. Posters about evolutionary robotics from gecco-2002-23.pdf


2. Introduction to robot control. Slides in PDF.


3. Example of a world for a robot.

WALKING ROBOTS.

Small walking robots, especially KHR-01.

1. Slides on Kinematics and Animation of Humanoid Robots in PPT.


2. High Level Motion Control Slides in PPT.


3. Modeling humanoid robots in computer graphics. Slides in PPT.


4. Animation for computer graphics. Slides in PPT format.


5. David Vernon. Inexpensive humanoid robot architectures. In PDF.


6. Paper about humanoid Robots. They also use KHR-01. In PDF format.


7. Research in Humanoid robots from Brown University. In PPT format.


8. Random Morphology robot - Locomotion learning. One page, interesting and new. In PDF format.

Gaits for Walking robots

1. Gait evolution for biped robots using visual feedback. Paper in PDF.




3. Paper about Active Balancing using Gyroscopes for a Small Humanoid Robot. In PDF.

HUMAN-ROBOT AND HUMAN-COMPUTER INTERACTION.

1. Prof. Fumio Harashima about State of the Art in Human-Computer Interaction. Much about robotics. Slides in PDF format.


2. Lectures about Human-Robot Interaction. Slides in PDF.

ADDITINAL SLIDES ABOUT ROBOT VISION

Servos for projects.

1. Robotic System Servo Control. Presentation of Jeff Allen as a lecturer in class. Slides in PPT.

Sensors

1. Sensors and their role in new approaches to perception. Slides in PPT.


2. Digital Resistive sensors. Slides in PPT.


3. Analog Resistive sensors. Slides in PPT.


4. Overview of sensors. Slides in PPT.

Cameras and Visual Servoing

1. Cameras. Visual Servoing. Slides in PPT.


2. Visual Servoing for a mobile robot. Paper in PDF.


3. Paper by Zhang on camera calibration in PDF.


4. Camera Calibration for 3D vision. In PDF.

BASIC ROBOT VISION.

 

1. Edge detection and feature extraction algorithms. Slides in PPT.

1. Labeling and sequential algorithms. Slides in PPT.


2. Histogramming. Soccer robot vision. Slides in PPT.

1. Walsh Transforms and butterflies. Slides in PPT.


2. Walsh Matrix. Slides in PPT.


3. Spectral Transforms and Image Processing software. Slides in PPT.


4. Walsh and Fourier Transforms. Butterflies. Fast algorithms and their properties. Use of spectral methods in robot vision. Slides in PPT.


5. Hough Transforms. Slides in PPT.

Hough Transforms and Quad Trees

1. Hough Transform application in a mobile robot for corridor navigation. Slides in PPT.


2. Quad trees and Oct-trees. Slides in PPT.

Thinning Algorithms

1. Thinning algorithms. Slides in PPT.

Vision for Robot Localization

1. Vision for robot localization by Ulrich. Paper in PDF. 

Region Segmentation

1. Region Segmentation. Slides in PDF format.

Wavelets

1. Slides in PDF about wavelets.


2. Beyond wavelets and JPEG 2000. Slides in PPT format.

Tracking.

1. Lecture about Tracking Devices for humans, for instance built into glasses. In PDF format.

 

MATLAB AND MATLAB IN ROBOT VISION.

1. matlab1.pdf Lectures on Matlab. Lecture 1. Introduction to Matlab.


2. matlab2.pdf Lectures on Matlab. Lecture 2. More Matlab Programming.


3. matlab3.pdf Lectures on Matlab. Lecture 3. Finishing with Matlab.


4. matlab4.pdf Lectures on Matlab. Lecture 4. Finishing with Matlab.


5. Lecture on Introduction and Control Basic to Matlab. In PDF.


6. The same lecture in PPT.


7. Matlab Primer in PDF.


8. Introduction to Matlab in PPT.


9. Matlab two-dimensional plots in PPT.


10. Matlab Script and Function files in PPT.


11. Simple Programming in Matlab in PPT.


12. Solution of non-linear algebraic equations in Matlab. PPT format.