Lecture

Active Map Building: Exploration

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In course

MICRO-452: Basics of mobile robotics

This course gives an overview of the field of mobile robotics, introducing to the main techniques and allowing to test them in exercises and a team-based project. ...

Description

This lecture covers the basics of Simultaneous Localization and Mapping (SLAM), focusing on the process of incrementally building a map of an unknown environment while determining the robot's location. Topics include different map types such as real maps, line-based maps, occupancy grid maps, and topological maps. The lecture also discusses map creation techniques like the Split & Merge technique, map refinement, feature addition, and removal. It explores the prediction of measurements and positions using odometry estimation and sensor fusion. Additionally, it delves into the concept of features matching and various approaches to SLAM, such as volumetric vs. feature-based, topological vs. metric, and active vs. passive map building.

Instructor

Francesco Mondada

Dr. Mondada received his M.Sc. in micro-engineering in 1991 and his Doctoral degree in 1997 at EPFL. During his thesis he co-founded the company K-Team, being both CEO and president of the company for about 5 years. He is one of the three main developers of the Khepera robot, considered as a standard in bio-inspired robotics and used by more than 1,000 universities and research centers worldwide. Fully back in research in 2000 and after a short period at CALTECH, he participated to the SWARM-BOTS project as the main developer of the s-bot robot platform, which was ranked on position 39 in the list of The 50 Best Robots Ever (fiction or real) by the Wired Journal in 2006. The SWARM-BOTS project was selected as FET-IST success story by the EU commission. He is author of more than 100 papers in the field of bio-inspired robotics and system level robot design. He is co-editor of several international conference proceedings. In November 2005 he received the EPFL Latsis University prize for his contributions to bio-inspired robotics. In 2011 he received the "Crédit Suisse Award for Best Teaching" from EPFL and in 2012 the "polysphère" award from the students as best teacher in the school of engineering. His interests include the development of innovative mechatronic solutions for mobile and modular robots, the creation of know-how for future embedded applications, and making robot platforms more accessible for education, research, and industrial development.

Official source

Related concepts (32)

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Visual odometry

In robotics and computer vision, visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of robotic applications, such as on the Mars Exploration Rovers. In navigation, odometry is the use of data from the movement of actuators to estimate change in position over time through devices such as rotary encoders to measure wheel rotations.

Road map

A road map, route map, or street map is a map that primarily displays roads and transport links rather than natural geographical information. It is a type of navigational map that commonly includes political boundaries and labels, making it also a type of political map. In addition to roads and boundaries, road maps often include points of interest, such as prominent businesses or buildings, tourism sites, parks and recreational facilities, hotels and restaurants, as well as airports and train stations.

Robot navigation

Robot localization denotes the robot's ability to establish its own position and orientation within the frame of reference. Path planning is effectively an extension of localisation, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates. Map building can be in the shape of a metric map or any notation describing locations in the robot frame of reference. For any mobile device, the ability to navigate in its environment is important.

Firefox

Mozilla Firefox, or simply Firefox, is a free and open-source web browser developed by the Mozilla Foundation and its subsidiary, the Mozilla Corporation. It uses the Gecko rendering engine to display web pages, which implements current and anticipated web standards. In November 2017, Firefox began incorporating new technology under the code name "Quantum" to promote parallelism and a more intuitive user interface. Firefox is available for Windows 7 or later versions, macOS, and Linux.

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